Affiliation:
1. General Motors Research Laboratories, Warren, Michigan
2. Stanford University Stanford, California 94305
Abstract
This paper discusses three fundamental problems relating to grasping and manipulating objects within an articulated, multifingered hand: determining how hard to squeeze an ob ject in order to ensure a secure grasp, determining the finger- joint motions required to produce a desired motion of the object, and determining the workspace of the hand. Squeezing the object, or the application of internal grasp forces, is reduced to a linear programming problem which considers friction and joint torque limit constraints. The relationship between the finger-joint motions and the motion of the object, for the case of pure rolling between the finger tips and the object, is formulated as a set of differential equa tions. The total workspace for a hand is determinedfor spe cial cases of planar and spatial hands.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software
Reference10 articles.
1. Hollerbach, J. 1982. Workshop on the design and control of dexterous hands . MIT AI memo 661.
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