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 publicationProc 1990 IEEE Int Conf Rob Autom
PublisherPubl by IEEE
Pages1568-1573
Number of pages6
ISBN (Print)0818620617
StatePublished - Dec 1 1990
EventProceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA
Duration: May 13 1990May 18 1990

Publication series

NameProc 1990 IEEE Int Conf Rob Autom

Other

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

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Hong, J., Lafferriere, G., Mishra, B., & Tan, X. (1990). Fine manipulation with multifinger hands. In Proc 1990 IEEE Int Conf Rob Autom (pp. 1568-1573). (Proc 1990 IEEE Int Conf Rob Autom). Publ by IEEE.