Paper Info
Title
Description And Analysis Of Multi-Fingered Hand Grasping With A New Finger-Object Contact Model
Abstract
The proper description of finger-object contact state is critical to the analysis and control of multi-fingered hand grasping. At present, most studies assume that the finger-object contact state is invariable. However, in different stages of hand grasping, finger-object contact state is usually variable due to different contact factors, therefore, current finger-object contact models are not very suitable for describing it and the existing description and analysis of the hand grasping may be not appropriate. In this paper, we proposed a new method for describing and analyzing the multi-fingered hand grasping under various finger-object contact states, including a new finger-object contact model for describing the actual finger-object contact state, a grasp matrix for describing the hand grasping, and the condition number of the grasp matrix for analyzing the hand grasping. Taking a three-fingered hand grasping a sphere as an example, the hand grasping under four types of contact states was investigated. Simulations and experimental results both validated the effectiveness of the proposed method.
Year
DOI
Venue
2019
10.1142/S0219843619500233
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS
Keywords
Field
DocType
Finger-object contact, contact state, contact model, multi-fingered hand, hand grasping
Computer vision,Computer science,Artificial intelligence,Contact model
Journal
Volume
Issue
ISSN
16
5
0219-8436
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Yin Zhang1251.82
Qiang Zhan2194.05
Chunhong Li300.34