By Topic

Finger motion planning of a multifingered manipulation with rolling contact

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
$33 $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)
T. Hasegawa ; Dept. of Intelligent Syst., Kyushu Univ., Fukuoka, Japan ; K. Murakami

This paper proposes planning methods of an object manipulation with an articulated multifingered robotic hand. Our planner has two main functions: planning of initial contact points for three finger tips, and adaptation of the internal grasping force. The former plans an initial grasp from which a required continuous motion of an object is achieved using fingertips alone while keeping rolling contact with the object. The latter enables the robot to maximize the range of motion of the grasped object. To improve planning efficiency, heuristic strategies are developed including: the error analysis of the failed grasp to find the most promising search direction; and exploitation of geometric shape of the manipulated object. Quality measures of manipulation are introduced to select better grasp among possible candidates

Published in:

Assembly and Task Planning, 2001, Proceedings of the IEEE International Symposium on

Date of Conference:

2001