Quasistatic manipulation with compliance and sliding

Journal Article · Sat Feb 01 00:00:00 EST 1992 · International Journal of Robotics Research; (United States)

DOI:https://doi.org/10.1177/027836499201100102· OSTI ID:6956333

Kao, I ^[1]; Cutkosky, M R ^[2]

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1. San Jose State Univ., CA (United States)
2. Stanford Univ., CA (United States)

The authors propose a method for modeling dextrous manipulation with sliding fingers. The approach combines compliance and friction limit surfaces. The method is useful for describing how a grasp will behave in the presence of external forces (e.g., when and how the fingertips will slide) and for planning how to control the fingers so that the grasped object will follow a desired trajectory. The sliding trajectories are characterized by a transient and steady-state solution. The underlying theory is first discussed and illustrated with several single-finger examples. Experimental results are also presented. The analysis is then extended to grasps with multiple sliding and nonsliding fingers. The multifinger analysis is illustrated with an example of manipulating a card with two soft-contact fingers.

• OSTI ID: 6956333
• Journal Information: International Journal of Robotics Research; (United States), Vol. 11:1; ISSN 0278-3649
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
MANIPULATORS
CONTROL
MATHEMATICAL MODELS
BENCH-SCALE EXPERIMENTS
COMPLIANCE
FINGERS
ROBOTS
SLIP
BODY
BODY AREAS
EQUIPMENT
HANDS
LABORATORY EQUIPMENT
LIMBS
MATERIALS HANDLING EQUIPMENT
REMOTE HANDLING EQUIPMENT
420200* - Engineering- Facilities
Equipment
& Techniques