Inverse kinematics for object manipulation with redundant multi-fingered robotic hands
نویسندگان
چکیده
In this paper, the problem of motion coordination of redundant multifingered robotic hands is considered. A kinematic model is introduced, which allows the object pose to be computed from the joint variables of each finger as well as from a suitable set of contact variables. Hence, a local planning method for dexterous manipulation, based on a prioritized inverse kinematics scheme with redundancy resolution, is presented. A case study is developed to demonstrate the effectiveness of the proposed approach in the presence of redundant degrees of freedom.
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