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The self-reconfiguration of a holonic hand: the holonic regrasp

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3 Author(s)
Durna, M. ; Dept. of Electr. & Electron., Middle East Tech. Univ., Ankara, Turkey ; Erkmen, A.M. ; Erkmen, I.

This paper uses a holonic hand model introduced in our early works (1998), which is composed of 2-stems-of-links-1-joint nonconvex biped planar holons working in colony in order to perform dexterous grasps. This paper focuses on the reconfiguration control of the colony that we structure as a sequence of planar grasp operations defining a holonic regrasp, which uses a graph theoretic formalization of configuration changes that occur in this holonic hand during this regrasping phase

Published in:

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference:

2000