Dynamic manipulability of multifingered grasping

IEEE Transactions on Robotics

Volumn 25, Issue 4, 2009, Pages 947-954

  Yokokohji, Yasuyoshi ^a   Martin, Jose San ^b   Fujiwara, Masaki ^a,c  

^a KYOTO UNIVERSITY   (Japan)

^b UNIVERSIDAD REY JUAN CARLOS   (Spain)

^c Keyence Corporation   (Japan)

Author keywords

Dynamic manipulability; Grasping; Internal force; Multifingered hand; Omnidirectionality

Indexed keywords

DYNAMIC MANIPULABILITY; GRASPING; INTERNAL FORCE; MULTIFINGERED HAND; OMNIDIRECTIONALITY;

ROBOTIC ARMS;

END EFFECTORS;

EID: 69249202399     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2009.2022433     Document Type: Article

References (22)

1. A. Bicchi, C. Melchiorri, and D. Balluchi, "On the mobility and manipulability of general multiple limb robots," IEEE Trans. Robot. Autom., vol. 11, no. 2, pp. 253-260, Apr. 1995.
2. A. Bicchi, D. Prattichizzo, and C. Melchiorri, "Force and dynamic manipulability for cooperating robot systems," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS), 1997, vol. 3, pp. 1479-1484.
3. A. Bicchi and D. Prattichizzo, "Manipulability of cooperating robots with unactuated joints and closed-chain mechanisms," IEEE Trans. Robot. Autom., vol. 16, no. 4, pp. 336-345, Aug. 2000.
4. P. Chiacchio, S. Chiaverini, L. Sciavicco, and B. Siciliano, "Global task space manipulability ellipsoids for multiple-arm systems," IEEE Trans. Robot. Autom., vol. 7, no. 5, pp. 678-685, Oct. 1991.
5. P. Chiacchio, S. Chiaverini, L. Sciavicco, and B. Siciliano, "Task space dynamic analysis of multiarm system configurations," Int. J. Robot. Res., vol. 10, no. 6, pp. 708-715, 1991.
6. P. Chiacchio, S. Chiaverini, L. Sciavicco, and B. Siciliano, "Influence of gravity on the manipulability ellipsoid for robot arms," ASME J. Dyn. Syst., Meas., Control, vol. 114, pp. 723-727, 1992.
7. P. Chiacchio, Y. Bouffard-Vercelli, and F. Pierrot, "Force polytope and force ellipsoid for redundant manipulators," J. Robot. Syst., vol. 14, no. 8, pp. 613-620, 1997.
8. P. Chiacchio, "A new dynamic manipulability ellipsoid for redundant manipulators," Robotica, vol. 18, pp. 381-387, 2000.
9. A. B. A. Cole, J. E. Hauser, and S. S. Satry, "Kinematics and control of multifingered hands with rolling contact," IEEE Trans. Autom. Control, vol. 34, no. 4, pp. 398-404, Apr. 1989.
10. K. L. Doty, C. Melchiorri, and C. Bonivento, "A theory of generalized inverses applied to robotics," Int. J. Robot. Res., vol. 12, no. 1, pp. 1-19, 1993.
11. K. L. Doty, C. Melchiorri, E. M. Schwartz, and C. Bonivento, "Robot manipulability," IEEE Trans. Robot. Autom., vol. 11, no. 3, pp. 462-468, Jun. 1995.
12. M. Fujiwara, Y. Yokokohji, and T. Yoshikawa, "Guideline for designing haptic master hands based on dynamic muli-fingered manipulability," in Proc. 11th Symp. Haptic Interfaces Virtual Environ. Teleoperator Syst., 2003, pp. 77-84.
13. S. Lee, "Dual redundant arm configuration optimization with task-oriented dual arm manipulability," IEEE Trans. Robot. Autom. vol. 5, no. 1, pp. 78-97, Feb. 1989.
14. Z. Li, P. Hsu, and S. Sastry, "Grasping and coordinated manipulation by a multifingered robot hand," Int. J. Robot. Res., vol. 8, no. 4, pp. 33-50, 1989.
15. C. Melchiorri, "Comments on "global task space manipulability ellipsoids for multiple-arm systems" and further considerations," IEEE Trans. Robot. Autom., vol. 9, no. 2, pp. 232-236, Apr. 1993.
16. J. San Martin and G. Trivino, "Mechanical design of a minimal invasive surgery trainer using the manipulability as measure of optimization," in Proc. IEEE Int. Conf. Mechatronics (ICM), Kumamoto, Japan, May 2007, pp. 1-5.
17. T. Yoshikawa, "Dynamic manipulability of robot manipulators," J. Robot. Syst., vol. 2, no. 1, pp. 113-124, 1985.
18. T. Yoshikawa, "Virtual truss model for characterization of internal forces for multiple finger grasps," IEEE Trans. Robot. Autom., vol. 15, no. 5, pp. 941-947, Oct. 1999.
19. T. Yoshikawa, "Erratum to "dynamic manipulability of robot manipulators"," J. Robot. Syst., vol. 17, no. 8, pp. 449-449, 2000.
20. T. Yoshikawa, "Control algorithm for grasping and manipulation by multifingered robot hands using virtual truss model representation of internal force," in Proc. IEEE Int. Conf. Robot. Autom., 2000, pp. 369-376.
21. X.-Z. Zheng, N. Tomochika, and T. Yoshikawa, "Dynamic manipulability of multiple robotic mechanisms in coordinated manipulation," in Proc. IFToMM-jc Int. Symp. Theory Mach. Mech., 1992, pp. 147-152.
22. B.-R. Zuo and W.-H. Qian, "A general dynamic force distribution algorithm for multifingered grasping," IEEE Trans. Syst., Man, Cybern., vol. 30, no. 1, pp. 185-192, Feb. 2000.