Motion planning of multifingered robotic hand for turning the cap


This paper presents a motion planning with position based impedance controller for our newly designed robotic hand. We explained the position based impedance control scheme presents equations. Also the inverse kinematics method is presented using pseudo-inverse. Finally, we proposed a motion planning to open a bottle cap and simulation result is shown to… (More)
DOI: 10.1109/URAI.2011.6145862


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