Learn 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)
— This paper focuses on the fundamental deformation effect of soft fingertips as applied in soft-fingered object manipulations. In order to analyze the deformation effect, we first describe the dynamic relation of a two-fingered object manipulation using soft fingertips. From the dynamic relation, we show that the fundamental deformation effect of soft(More)