Inverse kinematics for object manipulation with redundant multi-fingered robotic hands

Abstract

In this paper, the problem of motion coordination of redundant multifingered robotic hands is considered. A kinematic model is introduced, which allows the object pose to be computed from the joint variables of each finger as well as from a suitable set of contact variables. Hence, a local planning method for dexterous manipulation, based on a prioritized… (More)

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