Stiffness analysis for effective peg-in/out-hole tasks using multi-fingered robot hands

IEEE International Conference on Intelligent Robots and Systems

Volumn 2, Issue , 2000, Pages 1229-1236

  Kim, B H ^a   Yi, B J ^a   Suh, I H ^a   Oh, S R ^a  

^a Hanyang University   (South Korea)

Author keywords

Peg in out hole; Robot hand; Stiffness analysis

Indexed keywords

COMPUTER SIMULATION; FORCE CONTROL; GRIPPERS; MOTION CONTROL; NUMERICAL ANALYSIS; STIFFNESS MATRIX;

MULTIFINGERED ROBOT HAND; STIFFNESS ANALYSIS;

END EFFECTORS;

EID: 0034447375     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (13)

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3. Dynamic grasping force control using tactile feedback for grasp of multifingered hand
4. Constructing force-closure grasps in 3D
5. A compliance control method suggested by muscle networks in human arms
6. Specifying and achieving passive compliance based on manipulator structure
7. A biomimetic compliance control of robot hand by considering structures of human finger
8. Quasi-static assembly of compliantly supported rigid parts
9. The dynamic analysis and design of a high-speed insertion hand using the generalized centroid and virtual mass
10. Mechanical assembly based on motion primitives of multi-fingered hand
11. Grasp admittance center: Choosing admittance center parameters
12. An approach to disassembly problems in robotics
13. Analysis of a five-bar finger mechanism having redundant actuators with applications to stiffness and frequency modulation