THEORETICAL AND EXPERIMENTAL STUDIES USING A MULTIFINGER PLANAR MANIPULATOR.

J. Demmel*, G. Lafferriere, J. Schwartz, M. Sharir

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

An approach to manipulation tasks involving dextrous hands is presented. This approach treats the gripped object as a virtual finger and hence reduces the description of the task objectives to target forces and torques at reference points on the object. Computations are carried out for the case of three fingers holding a planar object. The authors implemented these ideas on the Four Finger Manipulator at NYU. Experimental results are presented for door opening and wall following with a gripped tool.

Original languageEnglish
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages390-395
Number of pages6
ISBN (Print)0818608528
StatePublished - 1988
Externally publishedYes

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