Fast decision of contact points of multifingered robot hands using an optimization index of fingertip force

Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007

Volumn , Issue , 2007, Pages

  Miyake, Keiji ^b   Nakamura, Futoshi ^a   Komada, Satoshi ^a   Hirai, Junji ^b  

^a MIE UNIVERSITY   (Japan)

^b NONE

Author keywords

[No Author keywords available]

Indexed keywords

MATHEMATICAL PROGRAMMING; MECHATRONICS; NONLINEAR PROGRAMMING; OPTIMIZATION; ROBOTIC ARMS; ROBOTICS;

FINGERTIP FORCE; MULTI-FINGERED ROBOT HANDS;

END EFFECTORS;

EID: 50649113056     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICMECH.2007.4280050     Document Type: Conference Paper

References (3)

1. Tstsuyou Watanabe and Tsuneo Yoshikawa "Optimization of Grasping by Using a Required External Force Set" Proceeding of 2003 IEEE Int. Conf. on Robotics and Automation, pp.1127-1132, 2003.
2. F. Nakamura, S. Komada and J. Hirai: "Derivation of minimization condition of manipulating force for multifingered robot hands and its application to decision of fingertip position", Proceedings of International Symposium on Robotics 2005, (2005)
3. T. Yoshikawa and Nagai: "Manipulating and Grasping Forces in Manipulation by Multifingered Robot Hands", IEEE J. of Robotics and Automation, Vol.7, No.1, pp.67-77 (1991)