Force distribution in multiple whole-limb manipulation

Force distribution in multiple whole-limb manipulation
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多次全肢操控中的力分布

DOI：
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发表时间：
1993
期刊：
[1993] Proceedings IEEE International Conference on Robotics and Automation
影响因子：
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通讯作者：
A. Bicchi
A. Bicchi
中科院分区：
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文献类型：
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作者：
A. Bicchi

文献摘要

被引文献

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讨论了由多个致动肢体（如手臂、手指或腿）组成的机器人系统，这些肢体在物体的操纵中进行合作。研究了分解机器人肢体和物体之间施加的接触力系统以在物体上施加期望的合力（和/或抵抗外部干扰）的问题。包络（或整个肢体）的操纵操作，利用肢体的任何部分接触的对象被认为是。研究的内部抓取力，这可能是积极控制，以增加把握稳定性），提出。&lt;<ETX>&gt;
Robotic systems composed of multiple actuated limbs (such as arms, fingers, or legs) cooperating in the manipulation of an object are discussed. The problem of decomposing the system of contact forces exerted between the robot limbs and the object in order to apply a desired resultant force on the object (and/or to resist external disturbances) is studied. Enveloping (or whole-limb) manipulation operations that exploit any part of the limbs to contact the object are considered. A study of the internal grasping forces, which may be actively controlled to increase grasp stability), is presented.<<ETX>>