Paper Info
Title
Two-fingered full envelope dexterous manipulation
Abstract
A method for full-envelope-rolling manipulation using a two-fingered robot hand is described. Full envelope refers to the use of the complete phalangeal surface during manipulation. A two-dimensional model for modeling an object manipulation is proposed. It is based on a study of the movement of the contact line between index and thumb. The method uses tactile sensor information to estimate the contact point position together with the local curvature of the object. This full envelope dexterous manipulation is demonstrated on a two-fingered hand. This hand consists of a tendon-driven index and thumb, equipped with force and tactile sensors within five degrees-of-freedom. The dimensions and performance of this device are human sized. A hybrid force position control scheme is used. The hierarchical control structure is implemented on a dual transputer system
Year
DOI
Venue
1993
10.1109/ROBOT.1993.291918
Atlanta, GA
Keywords
Field
DocType
manipulators,position control,tactile sensors,complete phalangeal surface,contact point position,full-envelope-rolling manipulation,hierarchical control structure,hybrid force position control scheme,local curvature,object manipulation,tactile sensor information,tendon-driven index,transputer system,two-dimensional model,two-fingered hand,two-fingered robot hand
Thumb,Contact line,Control engineering,Artificial intelligence,Tactile sensor,Computer vision,Curvature,Simulation,Transputer,Robot kinematics,Electronic design automation,Engineering,Dexterous manipulation
Conference
Citations 
PageRank 
References 
2
0.73
5
Authors
2
Name
Order
Citations
PageRank
Dominiek Reynaerts17720.87
Van Brussel, H.213919.47