1993 Articles
Compliant manipulation with a dextrous robot hand
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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Files
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00291822.pdf application/pdf 625 KB Download File
Also Published In
- Title
- Proceedings : IEEE International Conference on Robotics and Automation, May 2-6, 1993, Atlanta, Georgia
- Publisher
- IEEE
- DOI
- https://doi.org/10.1109/ROBOT.1993.291822
More About This Work
- Academic Units
- Computer Science
- Published Here
- November 8, 2012