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Compliant manipulation with a dextrous robot hand

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2 Author(s)
Michelman, P. ; Dept. of Comput. Sci., Columbia Univ., New York, NY, USA ; Allen, P.

The control of precise, compliant manipulation tasks with multifingered robots is discussed. Emphasis is placed on performing manipulations of grasped objects that are themselves undergoing compliant motion. This class of manipulations include common tasks such as using tools, writing, and sliding an object on a surface. A task-level formulation is presented and illustrated. Results of experiments are presented to demonstrate the feasibility of performing precision manipulations with a dextrous hand

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993