Chopstick manipulation with an articulated hand-a qualitativeanalysis
Wang, G.
Stephanou, H.E.
Dept. of Electr. & Comput. Eng., George Mason Univ., Fairfax, VA;
This paper appears in: Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Publication Date: 24-29 Apr 1988
On page(s): 94-99 vol.1
Meeting Date: 04/24/1988 - 04/29/1988
Location: Philadelphia, PA, USA
ISBN: 0-8186-0852-8
References Cited: 7
INSPEC Accession Number: 3247368
Digital Object Identifier: 10.1109/ROBOT.1988.12029
Current Version Published: 2002-08-06
Abstract
The kinematics, static force propagation, and stability of tool
manipulation by an articulated hand are analyzed. The manipulation of
chopsticks is used as a case study to illustrate some fundamental
characteristics of tool manipulation. A qualitative requirements
analysis for chopstick manipulation is outlined. Emphasis is placed on
the characteristics of objects and grasps in fine manipulation
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