Hands for dexterous manipulation and robust grasping: A difficult road toward simplicity

IEEE Transactions on Robotics and Automation

Volumn 16, Issue 6, 2000, Pages 652-662

  Bicchi, Antonio ^a,b  

^a IEEE   (Italy)

^b UNIVERSITY OF PISA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

DEXTEROUS MANIPULATION;

ARTIFICIAL INTELLIGENCE; EVALUATION; MANIPULATORS; PHYSIOLOGY; ROBOTIC ASSEMBLY; ROBUSTNESS (CONTROL SYSTEMS); SENSORS;

END EFFECTORS;

EID: 0034472729     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.897777     Document Type: Article

References (191)

1. Y. Aiyama, M. Inaba, and H. Inoue, "Pivoting: A new method of graspless manipulation of object by robot fingers," In Proc. IEEE/RSJ Int. Conf. Int. Robots and Systems (IROS'93), 1993.
2. S. Akella, W. H. Huang, K. M. Lynch, and M. T. Mason, "Planar manipulation on a conveyor with a one joint robot," In Robotics Research: The Seventh International Symposium, G. Giralt and G. Hirzinger, Eds London, U.K.: Springer, 1996, pp. 265-276.
3. A. M. Al-Fahed Nuseirat, A. M. A. Hamdan, and H. M. A. Hamdan, "Stability and modal control of an object grasped by a multifingered robot hand," ZAMM Z. Angew. Math. Mech., vol. 79, no. 7, pp. 473-479, 1999.
4. M. S. Ali, K. J. Kyriakopoulos, and H. E. Stephanou, "The kinematics of the Anthrobot-2 dexterous hand," In Proc. IEEE Int. Conf. Robotics and Automation, 1993, pp. 3-705-3-710.
5. V. I. Arnold, Mathematical Methods of Classical Mechanics. New York: Springer Verlag, 1980.
6. Aristotle, De partibus animalium: 687a7, ca. 340 BC.
7. H. Asada and A. B. By, "Kinematic analysis of workpart fixturing for flexible assembly with automatically reconfigurable fixtures," IEEE J. Robot. Automat., vol. RA-1, pp. 86-94, Apr. 1985.
8. G. A. Bekej, H. Liu, R. Tomovic, and W. J. Karplus, "Knowledge-based control of grasping in robot hands using heuristics from human motor skills," IEEE Trans. Robot. Automat., vol. 9, pp. 709-722, Dec. 1993.
9. M. Bergamasco, P. Dario, and G. Sartini, "Design of a medium complexity end effector for teleoperation applications in space," In Proc. 1st IARP Int. Workshop on Robotics in Space, 1991.
10. A. Bicchi, "On the problem of decomposing grasp and manipulation forcesin multiple whole-limb manipulation," J. Robot. Autonom. Syst., vol. 13, pp. 127-147, 1994.
11. _, "On the closure properties of robotic grasping," Int. J. Robot. Res., vol. 14, no. 4, pp. 319-334, 1995.
12. A. Bicchi and K. Goldberg, Eds., Proc. IEEE-ICRA Workshop on Minimalism in Robotic Manipulation, 1996.
13. A. Bicchi and R. Sorrentino, "Dexterous manipulation through rolling," in Proc. IEEE Int. Conf. Robotics and Automation, 1995, pp. 452-457.
14. A. Bicchi, A. Marigo, and D. Prattichizzo, "Dexterity through rolling: Manipulation of unknown objects," In Proc. Int. Conf. Robotics and Automation, 1999.
15. A. Bicchi, C. Melchiorri, and D. Balluchi, "On the mobility and manipulability of general multiple limb robotic systems," IEEE Trans. Robot. Automat., vol. 11, pp. 215-228, Apr. 1995.
16. J. E. Bobrow and B. W. McDonell, "Modeling, identification, and control of a pneumatically actuated, force controllable robot," IEEE Trans. Robot. Automat., vol. 14, pp. 732-742, Oct. 1998.
17. C. Borst, M. Fischer, and G. Hirzinger, "A fast and robust grasp planner for arbitrary 3D objects," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
18. D. L. Brock, "Enhancing the dexterity of a robot hand using controlled slip," In Proc. IEEE Int. Conf. Robotics and Automation, 1988, pp. 249-251.
19. N. Brook, M. Shoham, and J. Dayan, "Controllability of grasps and manipulations in multi-fingered hands," IEEE Trans. Robot. Automat., vol. 14, pp. 185-192, Feb. 1998.
20. R. C. Brost, "Automatic grasp planning in the presence of uncertainty," Int. J. Robot. Res., vol. 7, no. 1, pp. 3-17, 1988.
21. H. Bruyninckx, S. Demey, S. Dutré, and J. DeSchutter, "Kinematic models for model based compliant motion in the presence of uncertainty," Int. J. Robot. Res., vol. 14, no. 5, pp. 465-482, 1995.
22. M. Buss and H. Hashimoto, "Dexterous robot hand experiments," In Proc. IEEE Int. Conf. Robotics and Automation, 1995, pp. 1680-1686.
23. M. Buss, H. Hashimoto, and J. Moore, "Dexterous hand grasping force optimization," IEEE Trans. Robot. Automat., vol. 12, pp. 406-418, June 1996.
24. C. Cai and B. Roth, "On the spatial motion of a rigid body with point contact," In Proc. IEEE Int. Conf. Robotics and Automation, 1987, pp. 686-695.
25. A. Caiti, G. Canepa, D. DeRossi, F. Germagnoli, G. Magenes, and T. Parisisni, "Toward the realization of an artificial tactile system: Fine-form discrimination by a tansorial tactile sensor array and neural inversion algorithms," TSMC, vol. 25, no. 6, pp. 4-15, 1995.
26. D. G. Caldwell, N. Tsagarakis, G. A. Medrano-Cerda, J. Schofield, and S. Brown, "Development of a pneumatic muscle actuator driven manipulator rig for nuclear waste retrieval operation," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
27. J. F. Canny and K. Y. Goldberg, "RISC for industrial robotics: Recent results and open problems," In Proc. IEEE Int. Conf. Robotics and Automation, 1994, pp. 1951-1958.
28. B. Carlisle, "Is U.S. robotics research of any use to U.S. industry?," IEEE Robotics and Automation Society Newsletter, 1991.
29. D. C. Chang and M. R. Cutkosky," Rolling with deformable fingertips," in Proc. IEEE/RSJ Int. Conf. Robots and Systems, 1995, pp. 194-199.
30. C. C. Cheah, H.-Y. Han, S. Kawamura, and S. Arimoto, "Grasping and position control for multi-fingered robot hands with uncertain jacobian matrices," In Proc. IEEE Int. Conf. Robotics and Automation, 1998, pp. 2403-2408.
31. I.-M. Chen and J. W. Burdick, "A qualitative test for n-finger force-closure grasps on planar objects with applications to manipulation and finger gaits," In Proc. IEEE Int. Conf. Robotics and Automation, 1993, pp. 814-820.
32. W. Chen and V. Kumar, "Workspace of planar cooperating robots with rolling contacts," Jpn. Robot. Soc. - Adv. Robot., vol. 9, no. 4, 1995.
33. M. Cherif and K. Gupta, "Global planning for dexterous re-orientation of rigid objects: Finger tracking with rolling and sliding," In Proc. IEEE Int. Conf. Robotics and Automation, Albuquerque, NM, 1997, pp. 986-991.
34. C. P. Chou and B. Hannaford, "Measurement and modeling of McKibben pneumatic artificial muscles," IEEE Trans. Robot. Automat., vol. 12, pp. 90-102, Feb. 1996.
35. A.A. Cole, P. Hsu, and S. S. Sastry, "Dynamic control of sliding by robot hands for regrasping," IEEE Trans. Robot. Automat., vol. 8, pp. 42-52, Feb. 1992.
36. W. Craelius and R. Abboudi, "New artificial hand technology," College of Eng., Rutgers Univ., http://uc.rutgers.edu/news/science/arthand.html, 2000.
37. M. R. Cutkosky, Robotic Grasping and Fine Manipulation. Norwell, MA: Kluwer, 1985.
38. M. R. Cutkosky and I. Kao, "Computing and controlling the compliance of a robotic hand," IEEE Trans. Robot. Automat., vol. 5, pp. 151-165, Apr. 1989.
39. M. Cutkosky and P Wright, "Friction, stability, and the design of robotic fingers," Int. J. Robot. Res., vol. 5, no. 4, pp. 20-37, 1986.
40. P. Dario and G. Buttazzo, "An anthropomorphic robot finger for investigating artificial tactile perception," Int. J. Robot. Res., vol. 6, no. 3, pp. 25-48, 1987.
41. Z. Doulgeri and S. Arimoto, "A force control for a robot finger under kinematic uncertainties," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
42. M. Ebner and R. S. Wallace, "A direct-drive hand: Design, modeling and control," In Proc. IEEE Int. Conf. Robotics and Automation, 1995, pp. 1668-1674.
43. M. Erdmann, "An exploration of nonprehensile two-palm manipulation," Int. J. Robot. Res., vol. 17, no. 5, pp. 485-503, 1998.
44. M. A. Erdmann, M. T. Mason, and G. Vaněcek, "Mechanical parts orienting: The case of a polyhedron on a table," Algorithmica, vol. 10, no. 2, 1993.
45. M. A. Farooqi, T. Tanaka, K. Nagata, Y. Ikezawa, and T. Omata, "Sensor based control for the execution of regrasping primitives on a multifingered robot," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
46. K. A. Farry and I. D. Walker, "Myoelectric teleoperation of a complex robotic hand," In Proc. IEEE Int. Conf. Robotics and Automation, vol. 3, 1993, pp. 502-509.
47. R. Fearing, "Simplified grasping and manipulation with dexterous robot hands," IEEE J. Robot. Automat., vol. RA-2, pp. 188-195, Aug. 1986.
48. C. Ferrari and J. Canny, "Planning optimal grasps," In Proc. IEEE Int. Conf. Robotics and Automation, 1992, pp. 2290-2295.
49. T. Fukuda, K. Mase, and Y. Hasegawa, "Robot hand manipulation by evolutionary programming," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
50. Y. Funahashi, T. Yamada, M. Tate, and Y. Suzuki, "Grasp stability analysis considering the curvatures at contact points," In Proc. IEEE Int. Conf. Robotics and Automation, 1996, pp. 3040-3046.
51. K. Goldberg, "Feeding and sorting algorithms for the parallel - jaw gripper," In Proc. Int. Symp. Robotics Research, R. Paul and G. Giralt, Eds, 1993.
52. S. Goyal, "Planar sliding of a rigid body with dry friction: Limit surfaces and dynamics of motion," Ph.D. dissertation, Cornell Univ., Ithaca, NY, 1989.
53. R. A. Grupen, T. C. Henderson, and I. D. McCammon, "A survey of general-purpose manipulation," Int. J. Robot. Res., vol. 8, no. 1, pp. 38-62, 1989.
54. L. Han, Y. S. Guan, Z. X. Li, Q. Shi, and J. C. Trinkle, "Dexterous manipulation with rolling contacts," In Proc. IEEE Int. Conf. Robotics Automat., 1997, pp. 992-997.
55. L. Han and J. C. Trinkle, "Dexterous manipulation by rolling and finger gaiting," In Proc. IEEE Int. Conf. Robotics and Automation, 1998, pp. 730-735.
56. L. Han, J. C. Trinkle, and Z. Li, "Grasp analysis as linear matrix inequality problems," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
57. H. Hanafusa and H. Asada, "Stable prehension by a robot hand with elastic fingers," In Robot Motion Planning and Control, M. Brady, Ed. Cambridge, MA: MIT Press, 1982, pp. 323-336.
58. H. Härtl, "Dexterous manipulation with multifingered robot hands including rolling and slipping of the fingertips," J. Robot. Autonom. Syst., vol. 14, pp. 29-53, 1995.
59. H. Hashimoto, H. Ogawa, T. Umeda, M. Obama, and K. Tatsuno, "An unilateral master-slave hand system with a force-controlled slave hand," in Proc. IEEE Int. Conf. Robotics and Automation, 1995, pp. 956-961.
60. A. Hauck, M. Sorg, G. Farber, and T. Schenk, "What can be learned from human reach-to-grasp movements for the design of robotic hand-eye systems?," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
61. R. D. Hester, M. Cetin, C. Kapoor, and D. Tesar, "A criteria-based approach to grasp synthesis," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
62. S. Hirai and H. Asada, "Kinematics and statics of manipulation using the theory of polyhedral convex cones," Int. J. Robot. Res., vol. 12, no. 5, pp. 434-447, 1993.
63. G. Hirzinger, J. Butterfass, S. Knoch, and H. Liu, "DLR's multi sensory articulated hand," In Proc. Int. Symp. Experimental Robotics, 1997.
64. J. Hong, G. Lafferriere, B. Mishra, and X. Tan, "Fine manipulation with multifinger hands," In Proc. IEEE Int. Conf. Robotics and Automation, 1990, pp. 1568-1573.
65. W. S. Howard and V. Kumar, "On the stability of grasped objects," IEEE Trans. Robot. Automat., vol. 12, pp. 904-917, Dec. 1996.
66. R. D. Howe and M. R. Cutkosky, "Touch sensing for robotic manipulation and recognition," In Robot. Rev. 2, O. Khatib, Ed. Cambridge, MA: MIT Press, 1992.
67. R. D. Howe, I. Kao, and M. R. Cutkosky, "The sliding of robot fingers under combined torsion and shear loading," In Proc. IEEE Int. Conf. Robotics and Automation, 1988, pp. 103-105.
68. R. D. Howe and M. R. Cutkosky, "Practical force-motion models for sliding manipulation," Int. J. Robot. Res., vol. 15, no. 6, pp. 557-572, 1996.
69. K. H. Hunt, A. E. Samuel, and P. R. McAree, "Special configurations of multi-finger multi-freedom grippers - A kinematic study," Int. J. Robot. Res, vol. 10, no. 2, pp. 123-134, 1991.
70. T. Iberall, "Human prehension and dexterous robot hands," Int. J. Robot. Res. vol. 16, no. 3, pp. 285-299, 1997.
71. S. C. Jacobsen, S. G. Meek, and R. R. Fullmer, "An adaptive myoelectric filter," In Proc. 6th IEEE Conf. Engineering in Medicine and Biology Soc., 1984.
72. S. C. Jacobsen, J. E. Wood, D. F. Knutti, and K. B. Biggers, "The Utah-MIT dexterous hand: Work in progress," Int. J. Robot. Res., vol. 3, no. 4, pp. 21-50, 1984.
73. J. W. Jameson, "Analytic techniques for automated grasp," Ph.D. dissertation, Stanford Univ., Stanford, CA, 1985.
74. B. M. Jau, "Dexterous telemanipulation with four fingered hand system," In Proc. IEEE Int. Conf. Robotics and Automation, 1995, pp. 338-343.
75. Y.-B. Jia and M. Erdmann, "Observing pose and motion through contact," In Proc. IEEE Int. Conf. Robotics and Automation, 1998, pp. 723-729.
76. S. L. Jiang, K . K. Choi, and Z. X. Li, "Coordinated motion generation for multifingered manipulation using tactile feedback," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
77. J. Joh and H. Lipkin, "Lagrangian wrench distribution for cooperating robotic mechanisms," In Proc. IEEE Int. Conf. Robotics and Automation, 1991, pp. 224-229.
78. W. Jongkind, "Dexterous gripping in a hazardous environment," Ph.D. dissertation, Delft Univ. Technol., 1993.
79. D. Kang and K. Goldberg, "Sorting parts by random grasping," IEEE Trans. Robot. Automat., vol. 11, pp. 146-152, Feb. 1995.
80. S. B. Kang and K. Ikeuchi, "Toward automatic robot instruction from perception - Recognizing a grasp from observation," IEEE Trans. Robot. Automat., vol. 9, pp. 432-443, Aug. 1993.
81. _, "Toward automatic robot instruction from perception - Mapping human grasps to manipulator grasps," IEEE Trans. Robot. Automat., vol. 13, pp. 81-95, Feb. 1997.
82. I. Kao and M. R. Cutkosky, "Quasistatic manipulation with compliance and sliding," Int. J. Robot. Res., vol. 11, no. 1, pp. 20-37, 1992.
83. _, "Comparison of theoretical and experimental force/motion trajectories for dexterous manipulation with sliding," Int. J. Robot. Res., vol. 12, no. 6, pp. 529-534, 1993.
84. I. Kao, M. R. Cutkosky, and R. S. Johansson, "Robotic stiffness control and calibration as applied to human grasping tasks," IEEE Trans. Robot. Automat., vol. 13, pp. 557-566, Aug. 1997.
85. I. Kato, "Mechanical hands," Survey Japan, 1982.
86. _, "Development of WASEDA Robot-The Study of Biomechanisms at Kato Laboratory, 3rd ed.," Dept. Mech. Eng., Waseda Univ., Tokyo, Japan, 1991.
87. J. Kerr and B. Roth, "Analysis of multifingered hands," Int. J. Robot. Res, vol. 4, no. 4, pp. 3-17, 1986.
88. D. Kirkpatrick, S. R. Kosaraju, B. Mishra, and C.-K. Yap, "Quantitative Steinitz's theorem with applications to multifingered grasping," Dept. Comput. Sci., Courant Inst. Math. Sci., New York Univ., TR460, 1989.
89. D. J. Kriegman, "Let them fall where they may: Capture regions of curved objects and polyhedra," Int. J. Robot. Res, vol. 16, no. 4, pp. 448-472, Aug. 1997.
90. K. Lakshminarayana, "Mechanics of form closure," ASME paper 78-DET-32, 1978.
91. Y. K. Lee and I. Shimoyama, "A skeletal framework artificial hand actuated by pneumatic artificial muscles," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
92. Z. X. Li and J. Canny, "Motion of two rigid bodies with rolling constraint," IEEE Trans. Robot. Automat., vol. 6, pp. 62-72, Feb. 1990.
93. Z. Li, P. Hsu, and S. Sastry, "Grasping and coordinated manipulation by a multifingered robot hand," Int. J. Robot. Res., vol. 8, no. 4, 1989.
94. Z. X. Li, Z. Qin, S. Jang, and L. Han, "Coordinated motion generation and real-time grasping force control for multi-fingered manipulation," In Proc. IEEE Int. Conf. Robotics and Automation, 1998, pp. 3631-3638.
95. Q. Lin and J. W. Burdick, "A task-dependent approach to minimum-deflection fixtures," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
96. Y. H. Liu, D. Ding, and S. Wang, "Constructing 3D fractional form-closure grasps of polyhedral objects," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
97. C. S. Lovchik and M. A. Diftler, "The robonaut hand: A dexterous robot hand for space," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
98. K. M. Lynch, "Toppling manipulation," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
99. K. M. Lynch and M. T. Mason, "Dynamic nonprehensile manipulation: Controllability, planning, and experiments," Int. J. Robot. Res., vol. 18, no. 1, pp. 64-92, 1999.
100. K. Machida, Y. Toda, Y. Murase, and S. Komada, "Precise space telerobotic system using 3-finger multisensory hand," In Proc. IEEE Int. Conf. Robotics and Automation, 1995, pp. 32-38.
101. H. Maekawa, K. Tanie, and K. Komoriya, "Kinematics, statics and stiffness effect of 3D grasp by multifingered hand with rolling contact at the fingertip," In Proc. IEEE Int. Conf. Robotics and Automation, 1997, pp. 78-85.
102. A. Marigo, Y. Chitour, and A. Bicchi," Manipulation of polyhedral parts by rolling," In Proc. IEEE Int. Conf. Robotics and Automation, 1997, pp. 2992-2997.
103. A. Marigo and A. Bicchi, "Rolling bodies with regular surfaces: Controllability theory and applications," IEEE Trans. Automat. Contr., vol. 45, pp. 1586-1599, Sept. 2000.
104. A. Marigo, M. Ceccarelli, S. Piccinocchi, and A. Bicchi, "Planning motions of polyhedral parts by rolling," Algorithmica, vol. 26, no. 4, pp. 560-576, 2000.
105. X. Markenscoff andC. H. Papadimitriou," Optimum grip of apolygon," Int. J. Robot. Res, vol. 8, no. 2, pp. 17-29, 1989.
106. X. Markenscoff, L. Ni, and C. H. Papadimitriou, "The geometry of grasping," Int. J. Robot. Res, vol. 9, no. 1, pp. 61-74, 1990.
107. M. T. Mason and J. K. Salisbury, Robot hands and the mechanics of manipulation. Cambridge, MA: MIT Press, 1985.
108. C. Melchiorri, "Multiple whole-limb manipulation: an analysis in the force domain," Int. Journ. on Robotics and Autonomous Systems, vol. 20, no. 1, pp. 15-38, June 1997.
109. C. Melchiorri and G. Vassura, "Mechanical and control features of the University of Bologna hand Version 2.," In Proc. IEEE/RSJ Int. Conf. Int. Robots and Systems, 1992, pp. 187-193.
110. A. Menciassi, B. Hannaford, M. C. Carrozza, and P. Dario, "4-axis electromagnetic microgripper," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
111. R. Menzel, K. Woelfl, and F. Pfeiffer, "Grasping with a dexterous robot hand," In Proc. IFAC Symp. Robot Control, 1994, pp. 303-308.
112. P. Michelmann, "Precision object manipulation with a multifingered robot hand," IEEE Trans. Robot. Automat., vol. 14, pp. 105-113, Feb. 1998.
113. P. Michelmann and P. Allen, "Compliant manipulation with a dexterous robot hand," In Proc. IEEE Int. Conf. Robotics and Automation, 1993, pp. 711-716.
114. A. T. Miller and P. K. Allen, "Examples of 3D grasp quality computations," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
115. K. Mirza and D. E. Orin, "Force distribution for power grasp in the digits system," In CISM-IFToMM Symp. Theory and Practice of Robots and Manipulators, 1990.
116. B. Mishra, J. T. Schwartz, and M. Sharir, "On the existence and synthesis of multifinger positive grips," Algorithmica, vol. 2, no. 4, pp. 541-558, 1987.
117. D. J. Montana, "The kinematics of contact and grasp," Int. J. Robot. Res., vol. 7, no. 3, pp. 17-32, 1988.
118. _, "Contact stability for two-fingered grasps," IEEE Trans. Robot. Automat., vol. 8, pp. 421-430, Aug. 1992.
119. Y. Murayama and H. Kobayashi, "Study of cooperative works of a person and tendon-driven robot arm," In Proc. RSJ Symp. Coexistence of Robots and Humans, 1996.
120. R. M. Murray, Z. Li, and S. S. Sastry, A Mathematical Introduction to Robotic Manipulation. Boca Raton, FL: CRC, 1994.
121. K. Nagai and T. Yoshikawa, "Dynamic manipulation/grasping control of multifingered robot hands," In Proc. IEEE Int. Conf. Robotics and Automation, 1993, pp. 1027-1032.
122. Y. Nakamura, K. Nagai, and T. Yoshikawa, "Dynamics and stability in coordination of multiple robotic systems," Int. J. Robot. Res., vol. 8, no. 2, pp. 44-61, 1989.
123. Y Nakamura, T. Yamazaki, and N. Mizushima, "Synthesis, learning and abstraction of skills through parameterized smooth map from sensors to behaviors," In Proc. I EEE Int. Conf. Robotics and Automation, 1999.
124. V. D. Nguyen, "Constructing force-closure grasps," Int. J. Robot. Res., vol. 7, no. 3, pp. 3-16, 1988.
125. M. Nilsson, "Tactile sensing with minimal wiring complexity," In Proc. IEEE Int. Conf. Robotics and Automation, 1999, pp. 293-298.
126. T. Okada, "Object handling system for manual industry," IEEE Trans. Syst., Man, Cybern., vol. SMC-9, no. 2, 1979.
127. A. M. Okamura, N. Smaby, and M. R. Cutkosky, "An overview of dexterous manipulation," In Proc. IEEE Int. Conf. Roboticsand Automation, 2000, pp. 255-262.
128. D. E. Orin and S. Y Oh, "Control of force distribution in robotic mechanisms containing closed kinematic chains," J. Dyn. Syst. Meas. Contr., vol. 102, 1981.
129. E. Paljug, X. Yun, and V. Kumar, "Control of rolling contacts in multi-arm manipulation," IEEE Trans. Robot. Automat., vol. 10, pp. 441-452, Aug. 1994
130. P. D. Panagiotopoulos and A. M. Al-Fahed, "Robot hand grasping and related problems Optimal control and identification," Int. J. Robot. Res., vol. 13, no. 2, pp. 127-136, 1994
131. S. R. Pandian, Y. Hayakawa, F. Takemura, and S. Kawamura, "Control performance of an air motor - Can air motors replace electric motors?," in Proc. IEEE Int. Conf. Robotics and Automation, 1999.
132. F. C. Park and R. W. Brockett, "Kinematic dexterity of robotic mechanisms," Int. J. Robot. Res., vol. 13, no. 1, pp. 1-15, 1994.
133. Y C. Park and G. P Starr, "Grasp synthesis of polygonal objects using a three-fingered robot hand," Int. J. Robot. Res., vol. 11, no. 3, pp. 163-184, 1992.
134. F. C. Park and J. W. Kim, "Manipulability and singularity analysis of multiple robot systems: A geometric approach," In Proc. IEEE Int. Conf. Robotics and Automation, 1998, pp. 1032-1037.
135. Y C. Pati, P. S. Krishnaprasad, and M. C. Peckerar, "An analog neural network solution to the inverse problem of early taction," IEEE Trans. Robot. Automat., vol. 8, pp. 196-212, Apr. 1992.
136. M. A. Peshkin and A. C. Sanderson, "Planning robotic manipulation strategies for workpieces that slide," IEEE J. Robot. Automat., vol. 4, Oct. 1988.
137. C. Pfeiffer, K. DeLaurentis, and C. Mavroidis, "Shape memory alloy actuated robot prosthesea Initial experiments," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
138. N. S. Pollard and T. Lozano-Perez, "Grasp stability and feasibility for an arm with an articulated hand," In Proc. IEEE Int. Conf. Robotics and Automation, 1990, pp. 581-585.
139. J. Ponce and B. Faverjon, "On computing three finger force-closure grasp of polygonal objects," IEEE Trans. Robot. Automat., vol. 11, pp. 868-881, Dec. 1995.
140. J. Ponce, S. Sullivan, A. Sudsang, J. D. Boissonnat, and J. P. Merlet, "On computing four-finger equilibrium and force-closure grasps of polyhedral objects," Int. J. Robot. Res., vol. 16, no. 1, pp. 11-35, 1997.
141. D. Prattichizzo and A. Bicchi, "Consistent specification of manipulation tasks for defective mechanical systems," ASME J. Dyn. Syst., Meas., Contr., vol. 119, pp. 760-767, 1997.
142. D. Reynaerts and H. Van Brussel, "Design and transputer based control of a two fingered robot hand," In Proc. IFAC Symp. Robot Control, 1994, pp. 309-314.
143. _, "Whole-finger manipulation with a two-fingered robot hand," Jpn. Robot. Soc. - Adv. Robot., vol. 9, no. 4, 1995.
144. D. Reznik and V. Lumelsky, "Multi-finger hugging: A robust approach to sensor based grasp planning," In Proc. IEEE Int. Conf. Robotics and Automation, 1994, pp. 754-760.
145. A. Rodriguez-Angeles and V. Parra-Vega, "Adaptive control with impedanceof cooperative multi-robot system," In Proc. IEEE Int. Conf. Robotics and Automation, 1998, pp. 1522-1527.
146. P. E. Rybski and R. M. Voyles, "Interactive task training of a mobile robot through human gesture recognition," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
147. E. Rimon and J. W. Burdick, "Mobility of bodies in contact - Part I: A 2nd order mobility index for multiple-finger grasps," IEEE Trans. Robot. Automat., vol. 14, pp. 696-708, Oct. 1998.
148. _, "Mobility of bodies in contact - Part II: How forces are generated by curvature effects," IEEE Trans. Robot. Automat., vol. 14, pp. 709-717, Oct. 1998.
149. D. Rus, "In-hand dexterous manipulation of piecewise-smooth 3-D objects," Int. J. Robot. Res., vol. 18, no. 4, pp. 355-381, 1999.
150. A. Russell, Robot Tactile Sensing. Englewood Cliffs, NJ: Prentice-Hall, 1990.
151. J. K. Salisbury, "Whole-arm manipulation," In Proc. Int. Symp. Robotics Research, 1987.
152. N. Sarkar, X. Yun, and V. Kumar, "Dynamic control of 3-D rolling contacts in two-arm manipulation," IEEE Trans. Robot. Automat., vol. 13, pp. 364-376, June 1997.
153. N. Sawasaki, M. Inaba, and H. Inoue, "Tumbling objects using a multifingered robot," In Proc. 20th ISR, 1989, pp. 609-616.
154. T. Shegl and M. Buss, "Hybrid dosed-loop control of robotic hand regrasping," In Proc. IEEE Int. Conf. Robotics and Automation, 1998, pp. 3026-3031.
155. M. J. Sheridan, S. C. Ahalt, and D. E. Orin, "Fuzzy control fro robotic power grasp," Jpn. Robot. Soc. - Adv. Robot., vol. 9, no. 4, 1995.
156. K. B. Shimoga, "Robot grasp synthesis algorithms A survey," Int. J. Robot. Res., vol. 15, no. 3, pp. 230-266, 1996.
157. M. Shimojo, S. Sato, Y. Seki, and A. Takahashi, "A system for simultaneous measuring grasping posture and pressure distribution," In Proc. IEEE Int. Conf. Robotics and Automation, 1995, pp. 831-836.
158. L. Singh, A. Silverthorne, S. Gottschlich, and H. Stephanou, "Variably-autonomous manipulation," In Proc. IEEE Int. Conf. Robotics and Automation, 1994, pp. 3217-3222.
159. G. Smith, E. Lee, K. Y. Goldberg, K. Bohringer, and J. Craig, "Computing parallel-jaw grips," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
160. T. H. Speeter, "Three-dimensional finite element analysis of elastic continua for tactile sensing," Int. J. Robot. Res., vol. 11, no. 1, pp. 1-19, 1992.
161. S. A. Stoeter, S. Vosst, N. P. Papanikolopoulos, and H. Mosemann, "Planning of regrasp operations," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
162. M. M. Svinin, K. Ueda, and M. Kaneko, "Analytical conditions for the rotational stability of an object in multi-finger grasping," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
163. P. J. Swanson, R. R. Burridge, and D. E. Koditscheck, "Global asymptotic stability of a passive juggler," In Proc. IEEE Int. Conf. Robotics and Automation, 1995, pp. 1983-1988.
164. S. Tadokoro, S. Yamagami, M. Ozawa, T. Kimura, T. Takamori, and K. Oguro, "Multi-DOF device for soft micromanipulation consisting of soft gel actuator elements," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
165. T.Tanaka, T. Noritsugu, K. Hashimoto, and M. Takaiwa, "Rehabilitation robot using rubber artificial muscle," In Proc. RSJ Symp. Coexistence of Robots and Humans, 1996.
166. T. Tanikawa, T. Arai, P. Ojala, and M. Saeki, "Two-finger micro hand," in Proc. IEEE Int. Conf. Robotics and Automation, 1995, pp. 1674-1679.
167. C. R. Tischler, A. E. Samuel, and K. H. Hunt, "Dexterous robot fingers with desirable kinematic forms," Int. J. Robot. Res, vol. 17, no. 9, pp. 996-1012, 1998.
168. R. Tomovic and G. Boni, "An adaptive artificial hand," IEEE Trans. Automat. Contr., vol. AC-7, no. 3, pp. 3-10, 1962.
169. P. Tournassoud, T. Lozano-Perez, and E. Mazer, "Regrasping," In Proc. IEEE Int. Conf. Robotics and Automation, 1987, pp. 1924-1928.
170. J. C. Trinkle, "On the stability and instantaneous velocity of grasped frictionless objects," IEEE Trans. Robot. Automat., vol. 8, pp. 560-572, Oct. 1992.
171. J. C. Trinkle, R. C. Ram, A. O. Farahat, and P. F. Stiller, "Dexterous manipulation planning and execution of an enveloped slippery workpiece," in Proc. IEEE Int. Conf. Roboticsand Automation, 1993, pp. 442-448.
172. J. C. Trinkle, J. M. Abel, and R. P. Paul, "An investigation of frictionless enveloping grasping in the plane," Int. J. Robot. Res., vol. 7, no. 3, pp. 33-51, 1987.
173. J. C. Trinkle, A. O. Farahat, and P. F. Stiller, "Second order stability cells of a frictionless rigid body grasped by rigid fingers," In Proc. IEEE Int. Conf. Robotics and Automation, 1994, pp. 2815-2821.
174. N. Ulrich, R. Paul, and R. Bajcsy, "A medium-complexity compliant end effector," In Proc. IEEE Int. Conf. Robotics and Automation, 1989, pp. 434-436.
175. F. J. Valero-Cuevas, "Applying principles of robotics to understand the biomechanics, neuromuscular control and clinical rehabilitation of human digits," In Proc. IEEE Int. Conf. Robotics and Automation, 2000, pp. 270-275.
176. A. F. van der Stappen, C. Wentink, and M. H. Overmars, "Computing form-closure configurations," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
177. G. Vassura and A. Bicchi, "Whole hand manipulation: Design of anarticulated hand exploiting all its parts to increase dexterity," In Robots and Biological Systems, ser. NATO-ASI. New York: Springer-Verlag, 1989.
178. K. J. Waldron, M. Raghavan, and B. Roth, "Kinematics of a hybrid series-parallel manipulation system," J. Dyn. Syst. Meas Contr., vol. 111, no. 2, pp. 211-221, 1989.
179. I. D. Walker, R. A. Freeman, and S. I. Marcus, "Analysis of motion and internal loading of objects grasped by multiple cooperating manipulators," Int. J. Robot. Res., vol. 10, no. 4, Aug. 1991.
180. A. Wallack and J. Canny, "Planning for modular and hybrid fixtures," In Proc. IEEE Int. Conf. Robotics and Automation, 1994, pp. 520-525.
181. A. Weigl and M. Seitz, "Vision assisted disassembly using adexterous hand-arm system: An example and experimental results," In Proc. IFAC Symp. Robot Control, 1994, pp. 314-322.
182. J. T. Wen and L. S. Wilfinger, "Kinematic manipulability of general constrained rigid multibody systems," In Proc. IEEE Int. Conf. Robotics and Automation, 1998, pp. 1020-1025.
183. J. Wiegley, K. Goldberg, M. Peshkin, and M. Brokowski, "A complete algorithm for designing passive fences to orient parts," In Proc. IEEE Int. Conf. Robotics and Automation, 1996, pp. 1133-1139.
184. D. E. Whitney, "Real robots don't need jigs," In Proc. IEEE Int. Conf. Robotics and Automation, 1986.
185. G. Wöhlke, "A programming and simulation environment for the Karlsruhe dexterous hand," J. Robot. Autonom. Syst., vol. 9, pp. 243-262, 1990.
186. Y. Xue and I. Kao, "Dexterous sliding manipulation using soft fingertips," In Proc. IEEE Int. Conf. Robotics and Automation, 1994, pp. 3397-3402.
187. T. Yoshikawa, "Passive and active closures by constraining mechanisms," In Proc. IEEE Int. Conf. Robotics and Automation, 1996, pp. 1477-1434.
188. Y. Yu, K. Takeuchi, and T. Yoshikawa, "Optimization of robot hand power grasps," In Proc. IEEE Int. Conf. Robotics and Automation, 1998, pp. 3341-3347.
189. M. Zacksenhouse and T. Moestl, "Segmenting manipulative hand movements by dividing phase plane trajectories," In Proc. IEEE Int. Conf. Robotics and Automation, 1999.
190. H. Zhang, K. Tanie, and H. Maekawa, "Dexterous manipulation planning by graph transformation," In Proc. IEEE Int. Conf. Robotics and Automation, 1996, pp. 3055-3060.
191. Y. F. Zheng and J. Y. S. Luh, "On the inertia duality of parallel-series connections of two robots in operational space," IEEE Trans. Robot. Automat., vol. 9, pp. 846-854, Dec. 1993.