Some discussion of static gripping and its stability

Bhubaneswar Mishra, Naomi Silver

Research output: Contribution to journalArticle

Abstract

An overview is presented of research done in the area of dextrous manipulation. The main issue has been how to control mechanical hands so that they can perform manipulation tasks with the same dexterity and sensitivity as the human hands. To achieve sophisticated algorithms for grasping, compliance control, and manipulation, the nature of the contact wrenches, twists, and compliance of the fingers have to be well understood. Here emphasis is on the area of dextrous manipulation encompassed by static grasping. The two main approaches to the problems of grasping reviewed are those motivated by a study of human hands and those motivated by the physical and mechanical properties of grasps such as contact types, number of fingers required to achieve grasp, equilibrium, stability, and compliance.

Original languageEnglish (US)
Pages (from-to)783-796
Number of pages14
JournalIEEE Transactions on Systems, Man and Cybernetics
Volume19
Issue number4
DOIs
StatePublished - Jul 1989

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Compliance control
Hand tools
Physical properties
Mechanical properties
Compliance

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Some discussion of static gripping and its stability. / Mishra, Bhubaneswar; Silver, Naomi.

In: IEEE Transactions on Systems, Man and Cybernetics, Vol. 19, No. 4, 07.1989, p. 783-796.

Research output: Contribution to journalArticle

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