1994 Volume 60 Issue 569 Pages 126-130
In this paper we discuss the pivot operation of moving an object using a multifingered robot hand. The pivot operation has the merit that its fingertip forces are smaller than those in pick-and-place operation, because an object is supported by fingers and the floor. We propose a method that calculates the optimal fingertip forces by linear programming, as well as a method for task planning.
Transactions of the Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers Series A
Transactions of the Japan Society of Mechanical Engineers Series B
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series B
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A
