Abstract
Large-scale motion of the grasped object is one of the tasks, which is involved in practical dextrous manipulation of multifingered robotic hand. When the large-scale motion can not be accomplished only by rolling and sliding of the finger, finger gaiting, or regrasping, is used. In this paper, we propose a joint space representation of grasps, which represents a stable grasp by a set of joints values with several grasping constraints. Using primitives describing the regrasping process with the joint space representation, we build a kinematic model of finger gaiting as a hybrid automaton. In this model, all grasping constraints are involved. Finally, Simulation results verify the validity and efficiency of the model.
| Original language | English |
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| Title of host publication | Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 |
| Place of Publication | Piscataway, NJ |
| Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| Pages | 887-892 |
| Number of pages | 6 |
| Publication status | Published - 2005 |
| Externally published | Yes |
| Event | IEEE/ASME International Conference on Advanced Intelligent Mechatronics - Monterey, CA Duration: 24 Jul 2005 → 28 Jul 2005 |
Conference
| Conference | IEEE/ASME International Conference on Advanced Intelligent Mechatronics |
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| City | Monterey, CA |
| Period | 24/07/05 → 28/07/05 |