Controllability of grasps and manipulations in multi-fingered hands

被引：10

作者：

Brook, N

Shoham, M

Dayan, J

机构：

[1] RAFAEL, IL-31021 Haifa, Israel

[2] Technion Israel Inst Technol, Fac Mech Engn, IL-32000 Haifa, Israel

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1998年 / 14卷 / 01期

基金：

以色列科学基金会;

关键词：

controllability; equilibrium; grasping; gravity; manipulation;

D O I：

10.1109/70.660870

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Manipulation of objects utilizing gravity and using general equilibrium grasps, which are not necessarily force-closure, is discussed. Examining the controllability of the object's dynamics, in the presense of gravity, leads to the conclusion that almost all equilibrium grasps are locally controllable. This fact is used to show that manipulation from any one equilibrium point, to any other, is possible if there is a continuity of equilibrium points between them. In addition, the equilibrium grasps can be used for changing grasps with Walking Finger Manipulation. The system controllability matrix is also used to test grasp quality, depending not only on kinematic values but also on object orientation and dynamic properties.

引用

页码：185 / 192

页数：8