By Topic

Dynamic control of sliding by robot hands for regrasping

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Cole, A.A. ; AT&T Bell Labs., Holmdel, NJ, USA ; Ping Hsu ; Sastry, S.S.

The problem of dynamic control of a multifingered hand manipulating an object is considered, under the condition that some of the fingertips slide on the object surface. This work has many useful applications when considered in conjunction with work already done in the area of regrasping. In performing certain tasks with grasped objects, it is often necessary to change the contact locations of the fingers on the object. One method of achieving this is to break and remake the contacts; another method is to slide the fingertips on the object surface. This work provides a dynamic coordinated control scheme for a hand by which one can perform regrasping and reorientation of an object in the planar case

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:8 ,  Issue: 1 )