QUASI-STATIC MANIPULATION WITH COMPLIANCE AND SLIDING
QUASI-STATIC MANIPULATION WITH COMPLIANCE AND SLIDING
复制标题
DOI：
10.1177/027836499201100102
复制
发表时间：
1992-02-01
影响因子：
9.2
通讯作者：
CUTKOSKY, MR
中科院分区：
文献类型：
--
作者：
KAO, I;CUTKOSKY, MR
我们提出了一种方法来模拟手指的滑动操作。 该方法结合了柔度和摩擦极限面。 该方法可用于描述在存在外力（例如，指尖何时以及如何滑动）以及用于规划如何控制手指以使所抓取的物体遵循期望的轨迹。 滑动轨迹的特点是由一个瞬态和稳态的解决方案。 基本理论首先讨论和说明了几个单手指的例子。 实验结果也被提出。 分析，然后扩展到掌握多个滑动和非滑动手指。 多手指分析说明了一个例子，操纵卡与两个软接触的手指。
We propose a method for modeling dextrous manipulation with sliding fingers. The approach combines compliance and friction limit surfaces. The method is useful for describing how a grasp will behave in the presence of external forces (e.g., when and how the fingertips will slide) and for planning how to control the fingers so that the grasped object will follow a desired trajectory. The sliding trajectories are characterized by a transient and steady-state solution. The underlying theory is first discussed and illustrated with several single-finger examples. Experimental results are also presented. The analysis is then extended to grasps with multiple sliding and nonsliding fingers. The multifinger analysis is illustrated with an example of manipulating a card with two soft-contact fingers.