Gross motion analysis of fingertip-based within-hand manipulation

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Title: Gross motion analysis of fingertip-based within-hand manipulation
Author(s): Rojas, N
Dollar, AM
Item Type: Journal Article
Abstract: Fingertip-based within-hand manipulation, also called precision manipulation, refers to the repositioning of a grasped object within the workspace of a multifingered robot hand without breaking or changing the contact type between each fingertip and the object. Given a robot hand architecture and a set of assumed contact models, this paper presents a method to perform a gross motion analysis of its precision manipulation capabilities, regardless of the particularities of the object being manipulated. In particular, the technique allows the composition of the displacement manifold of the grasped object relative to the palm of the robot hand to be determined as well as the displacements that can be controlled-useful for high-level design and classification of hand function. The effects of a fingertip contacting a body in this analysis are modeled as kinematic chains composed of passive and resistant revolute joints; what permits the introduction of a general framework for the definition and classification of nonfrictional and frictional contact types. Examples of the application of the proposed method in several architectures of multifingered hands with different contact assumptions are discussed; they illustrate how inappropriate contact conditions may lead to uncontrollable displacements of the grasped object.
Publication Date: 1-Aug-2016
Date of Acceptance: 27-May-2016
URI: http://hdl.handle.net/10044/1/44668
DOI: https://dx.doi.org/10.1109/TRO.2016.2588722
ISSN: 1552-3098
Start Page: 1009
End Page: 1016
Journal / Book Title: IEEE Transactions on Robotics
Volume: 32
Issue: 4
Copyright Statement: © 2016 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications standards/publications/rights/index.html for more information.
Keywords: control system synthesis
manipulators
motion control
fingertip-based within-hand manipulation
gross motion analysis
hand function classification
high-level design
multifingered robot hand
nonfrictional contact types
precision manipulation
robot hand architecture
Adaptation models
Analytical models
Friction
Kinematics
Manifolds
Robots
Standards
Dexterous manipulation
kinematic manipulation
multifingered hands
within-hand manipulation
Industrial Engineering & Automation
0801 Artificial Intelligence And Image Processing
0906 Electrical And Electronic Engineering
0913 Mechanical Engineering
Publication Status: Published
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering



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