Cart (Loading....) | Create Account
Close category search window

Simulating dextrous manipulation of a multi-fingered robot hand based on a unified dynamic model

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

2 Author(s)
Chan, J.C. ; Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Shatin, Hong Kong ; Yun-Hui Liu

A dynamic simulator can facilitate developments and applications of a multi-fingered robot hand. Existing dynamic simulators cannot effectively simulate dextrous manipulation of a multi-fingered robot hand due to the lack of capability to cope with frequent changes in contact constraints and grasping configurations as well as impulsive collision occurring during manipulation. We propose a unified framework to model free motions, collisions, and different contact motions including sticking, rolling, and sliding. Furthermore, a new transition model is also proposed to handle transitions between these contact motions. Based on our unified dynamic model, a 3D dynamic simulator has been developed to simulate dextrous manipulation tasks involving combination of different contacts. The simulation results presented confirm the validity of the dynamic model as well as efficiency of the developed simulator

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

Date of Conference:


Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.