A Study on the Stable Grasping by a Redundant Multi-Fingered Robot Hand

Kenta Kumazaki; Mikhail Svinin; Zhi-Wei Luo; Tadashi Odashima; Shigeyuki Hosoe

doi:10.11499/sicep.2002.0.50.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.50.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

A Study on the Stable Grasping by a Redundant Multi-Fingered Robot Hand

Kenta Kumazaki, Mikhail Svinin, Zhi-Wei Luo, Tadashi Odashima, Shigeyuki Hosoe

Author information

Keywords: Stability, Redundancy, Multi-fingered hands

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 50

Details

Abstract

This paper deals with the stability of multi-fingered robot hand grasping. First, the problem is addressed at the force planning level. Next, the end point stiffness is distributed between redundant finger joints. The resulting control law is tested by an experiment with 3-fingered robot hand.

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