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When a multi-fingered hand grasps an object, the ways to grasp it stably are infinite, and thus an optimal grasp planning is necessary to find the relatively optimized grasp points on object for achieving the objective of the given grasping and manipulating task. For this, we first define several grasp indices to evaluate the quality of each feasible grasp.(More)
—In this paper, a modified two-step compliance control method for robot hands is proposed: resolved interfinger decoupling solver (RIFDS) and resolved interjoint decoupling solver (RIJDS). For this, we first investigate how many fingers are necessary to successfully implement stiffness characteristics in the operational space. RIFDS is then proposed to(More)
—Based on the analysis of the stiffness relation between the operational space and the ngertip space of multi-ngered hands, this paper provides a guideline of task-based compliance planning for multi-ngered robotic manipulations. In order to show the characteristics of the task-based stiffness matrix, various two-and three-dimensional examples are(More)
In this paper, for an object grasped by a robot hand to work in compliance control domain, we first analyze necessary condition for successful stiffness modulation in the operational space. Next, we propose a new compliance control method for robot hands which consist of two steps. RIFDS(Resolved Inter-Finger Decou-piing Solver) is to decompose the desired(More)