DYNAMIC CONTROL OF SLIDING BY ROBOT HANDS FOR REGRASPING

被引：80

作者：

COLE, AA

HSU, P

SASTRY, SS

机构：

[1] SAN JOSE STATE UNIV,DEPT ELECT ENGN,SAN JOSE,CA 95192

[2] SAN JOSE STATE UNIV,DEPT MECH & IND ENGN,SAN JOSE,CA 95192

[3] UNIV CALIF BERKELEY,DEPT ELECT ENGN & COMP SCI,BERKELEY,CA 94720

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1992年 / 8卷 / 01期

关键词：

D O I：

10.1109/70.127238

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this work we consider the problem of dynamic control of a multifingered hand manipulating an object, under the condition that some of the fingertips slide on the object surface. This work has many useful applications when considered in conjunction with work already done in the area of regrasping. In performing certain tasks with grasped objects, it is often necessary to change the contact locations of the fingers on the object. One method of achieving this is to break and remake the contacts; another method is to slide the fingertips on the object surface. This work provides a dynamic coordinated control scheme for a hand by which we can perform regrasping and reorientation of an object in the planar case.

引用

页码：42 / 52

页数：11