On the manipulability ellipsoids of underactuated robotic hands with compliance

Robotics and Autonomous Systems

Volumn 60, Issue 3, 2012, Pages 337-346

  Prattichizzo, Domenico ^a,c   Malvezzi, Monica ^a   Gabiccini, Marco ^b   Bicchi, Antonio ^b,c  

^a UNIVERSITY OF SIENA   (Italy)

^b UNIVERSITY OF PISA   (Italy)

^c ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

Author keywords

Compliance; Hyperstatic systems; Kinematic and force manipulability; Robotic hands; Synergies

Indexed keywords

COMPLIANCE; DESIGN AND CONTROL; ELASTIC MOTIONS; MANIPULABILITY ANALYSIS; MANIPULABILITY ELLIPSOID; NUMBER OF ACTUATORS; RIGID-BODY MOTION; SYNERGIES; UNDER-ACTUATION; UNDERACTUATED; UNDERACTUATED HAND;

KINEMATICS; ROBOTIC ARMS; ROBOTICS;

END EFFECTORS;

EID: 84855989087     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2011.07.014     Document Type: Article

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