THEORETICAL AND EXPERIMENTAL STUDIES USING A MULTIFINGER PLANAR MANIPULATOR.

J. Demmel; G. Lafferriere; J. Schwartz; M. Sharir

THEORETICAL AND EXPERIMENTAL STUDIES USING A MULTIFINGER PLANAR MANIPULATOR.

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

^*Corresponding author for this work

New York University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

10 Scopus citations

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 language	English
Title of host publication	Unknown Host Publication Title
Publisher	IEEE
Pages	390-395
Number of pages	6
ISBN (Print)	0818608528
State	Published - 1988
Externally published	Yes

Cite this

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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.",

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THEORETICAL AND EXPERIMENTAL STUDIES USING A MULTIFINGER PLANAR MANIPULATOR.

Abstract

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