Compliant manipulation with a dextrous robot hand
Paul Michelman; Peter K. Allen
- Compliant manipulation with a dextrous robot hand
Allen, Peter K.
- Computer Science
- Permanent URL:
- Book/Journal Title:
- Proceedings : IEEE International Conference on Robotics and Automation, May 2-6, 1993, Atlanta, Georgia
- Publisher Location:
- Piscataway, N.J.
- 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.
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