TY  - BOOK
AB  - In this paper, the authors proposed a novel reactive
strategy to solve a unknown object local manipulation problem
with an multifingered robot hand. In this method, the micro
manipulation assumption is proposed and the object can be
manipulated within the robot hand workspace without the active
and explicit controlling about the rolling and sliding of the
fingertips on the object. A 6 D.O.F reactive controller based on
the hybrid of the contact force and the contact position feedback
is developed. A three layer hierarchical control structure is
employed to implement this manipulation strategy. The simulation
experiment is run based on the physics engine-Vortex, to show the
feasibility of this method.
DA  - 2011
KW  - Multifingered Hand
KW  - General Object Manipulation
LA  - eng
PY  - 2011
TI  - Simulation Results for Manipulation of Unknown Objects in Hand
UR  - https://nbn-resolving.org/urn:nbn:de:0070-pub-23963669
Y2  - 2024-11-22T03:00:00
ER  -