Flexible microactuator. 3rd report, An application to a multifingered robot hand.
نویسندگان
چکیده
منابع مشابه
Planning of graspless manipulation by a multifingered robot hand
Graspless (or nonprehensile) manipulation is a method to manipulate objects without grasping. It includes pushing, tumbling and pivoting. Graspless manipulation is important as a complement of conventional pick-and-place for the dexterity of robots. In this paper, we propose a method of planning of general graspless manipulation by multifingered robot hands; the method can automatically generat...
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This paper presents grasp planning for a multifingered hand with a humanoid robot. Our planner selects different ways of grasping even for the same object according to object position/orientation. If the planner cannot find a feasible grasp with arm/hand kinematics, it switches to full body motion planning. These functions are necessary for realizing the robust grasp planning. Our planner defin...
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A new five-finger robot hand (NTU hand) with seventeen degrees of freedom (DOF) is developed in this paper, In contrast to traditional tendon-driven robot, the NTU hand has an uncoupled configuration that each fmger and joint are all individually driven. While all actuators, mechanical parts and sensors are packed on the hand, the size of NTU hand is almost the same as a human hand. Such compac...
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We propose a simple but efficient control strategy to manipulate objects of unknown shape, weight, and friction properties – prerequisites which are necessary for classical offline grasping and manipulation methods. With this strategy, the object can be manipulated in hand in a large scale,(eg. to rotate the object 360 degree) regardless whether there is rolling or sliding motion between the fi...
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In this paper, we describe a solution to the problem of determining the kinematic feasibility of a dextrous hand to grasp a given object at a desired connguration in the two dimensional space. We refer to this problem as kinematic graspability. The kinematic conngu-ration of a grasp is deened in terms of a set of contact pairs between the topological features of the hand and the object. We deri...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1991
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.57.1261