Fine manipulation with multifinger hands

J. Hong, G. Lafferriere, B. Mishra, X. Tan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The existence of two- and three-finger grasps in the presence of arbitrarily small friction is shown for two- and three-dimensional smooth objects using a simple technique. No convexity of the objects is assumed. The existence of finger gaits for rotating a planar object using three and four fingers is proved. Additional results for smooth convex objects which describe two different finger gaits using four fingers are presented.

Original languageEnglish (US)
Title of host publicationProceedings of the workshop on geometric algorithms for manufacturing (ICRA '93) Atlanta, Georgia, May 1993
StatePublished - 1993
EventProceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA
Duration: May 13 1990May 18 1990

Other

OtherProceedings of the 1990 IEEE International Conference on Robotics and Automation
CityCincinnati, OH, USA
Period5/13/905/18/90

ASJC Scopus subject areas

  • Engineering(all)

Fingerprint Dive into the research topics of 'Fine manipulation with multifinger hands'. Together they form a unique fingerprint.

  • Cite this

    Hong, J., Lafferriere, G., Mishra, B., & Tan, X. (1993). Fine manipulation with multifinger hands. In Proceedings of the workshop on geometric algorithms for manufacturing (ICRA '93) Atlanta, Georgia, May 1993