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

会議情報

主催: The Society of Instrument and Control Engineers

共催: 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

著者情報

キーワード: Stability, Redundancy, Multi-fingered hands

会議録・要旨集フリー

p. 50

詳細

抄録

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.

責任著者(Corresponding author)

J-STAGEへの登録はこちら（無料）