On computing four-finger equilibrium and force-closure grasps of polyhedral objects
This article addresses the problem of computing stable grasps of three-dimensional
polyhedral objects. We consider the case of a hand equipped with four hard fingers and …
polyhedral objects. We consider the case of a hand equipped with four hard fingers and …
Intelligent control of multi-fingered hands
S Arimoto - Annual Reviews in Control, 2004 - Elsevier
This paper is concerned with intelligent control for gras** and manipulation of an object by
multi-fingered robot hands with rigid or soft hemispheric finger ends that induce rolling …
multi-fingered robot hands with rigid or soft hemispheric finger ends that induce rolling …
Mobility of bodies in contact. I. A 2nd-order mobility index for multiple-finger grasps
E Rimon, JW Burdick - IEEE transactions on Robotics and …, 2002 - ieeexplore.ieee.org
Using a configuration-space approach, the paper develops a 2nd-order mobility theory for
rigid bodies in contact. A major component of this theory is a coordinate invariant 2nd-order …
rigid bodies in contact. A major component of this theory is a coordinate invariant 2nd-order …
Caging planar bodies by one-parameter two-fingered grip** systems
This paper is concerned with a caging problem: we wish to surround an object B by a
multifingered hand such that B has some freedom to move, but still cannot escape the “cage” …
multifingered hand such that B has some freedom to move, but still cannot escape the “cage” …
Caging 2D bodies by 1-parameter two-fingered grip** systems
This paper is concerned with the following caging problem. One wishes to surround an
object B by a multi-fingered hand such that B has some freedom to move but still cannot …
object B by a multi-fingered hand such that B has some freedom to move but still cannot …
[KİTAP][B] Advanced computer-aided fixture design
YK Rong, S Huang - 2005 - books.google.com
Fixtures--the component or assembly that holds a part undergoing machining--must be
designed to fit the shape of that part and the type of machining being done. This book …
designed to fit the shape of that part and the type of machining being done. This book …
On force and form closure for multiple finger grasps
E Rimon, J Burdick - Proceedings of IEEE International …, 1996 - ieeexplore.ieee.org
This paper considers the relationship between force and form closure. Based on a
previously developed mobility theory, the authors give precise definitions for 1/sup st/and …
previously developed mobility theory, the authors give precise definitions for 1/sup st/and …
[KİTAP][B] Control Theory of Multi-fingered Hands: A Modelling and Analytical–Mechanics Approach for Dexterity and Intelligence
S Arimoto - 2008 - books.google.com
Here you'll find a comprehensive insight into the intelligence and dexterity of robotic multi-
fingered hands from both the physical and control-theoretic viewpoints. It focuses on the …
fingered hands from both the physical and control-theoretic viewpoints. It focuses on the …
A stability theory of a manifold: concurrent realization of grasp and orientation control of an object by a pair of robot fingers
This paper is concerned with a stability theory of motion governed by Lagrange's equation
for a pair of multi-degrees of freedom robot fingers with hemi-spherical finger ends gras** …
for a pair of multi-degrees of freedom robot fingers with hemi-spherical finger ends gras** …
A configuration space analysis of bodies in contact—I. 1st order mobility
E Rimon, JW Burdick - Mechanism and Machine Theory, 1995 - Elsevier
This paper introduces a novel configuration space method for analyzing the relative mobility
of a body B, in frictionless quasi-static contact with rigid stationary bodies A1,…, Ad. We …
of a body B, in frictionless quasi-static contact with rigid stationary bodies A1,…, Ad. We …