Computation of minimum contact forces of multifingered robot hand with soft fingertips

In the human hand, the softness of a fingertip plays a significant role on stable grasping and dexterous manipulation. This paper presents a method of computing minimum grasp forces of a multi-fingered hand with soft fingertips. In the first, we built up a simple linear contact model of a soft finge...

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Veröffentlicht in:	Intelligent service robotics 2015-10, Vol.8 (4), p.225-232
Hauptverfasser:	Liu, Fengyi, Kim, Yong Bum, Yee, Gun Kyu, You, Won Suk, Kang, Gi Tae, Kim, An Na, Lee, Young Hun, Moon, Hyungpil, Koo, Ja Choon, Choi, Hyouk Ryeol
Format:	Artikel
Sprache:	eng
Schlagworte:	Artificial Intelligence Contact force Control Control algorithms Dynamical Systems End effectors Engineering Friction Hands Lagrange multiplier Mechatronics Optimization Original Research Paper Robotics Robotics and Automation Robots Softness User Interfaces and Human Computer Interaction Vibration
Online-Zugang:	Volltext
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