In-Hand Sliding Regrasp With Spring-Sliding Compliance and External Constraints

In-Hand Sliding Regrasp With Spring-Sliding Compliance and External Constraints

We investigate in-hand regrasping by pushing an object against an external constraint and allowing sliding at the fingertips. Each fingertip is modeled as attached to a multidimensional spring mounted to a position-controlled anchor. Spring compliance maps contact forces to spring compressions, ensu...

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Bibliographic Details
Main Authors: Jian Shi, Huan Weng, Kevin M. Lynch
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Finger contact mechanics
motion planning
robotic manipulation
sliding regrasp
spring-sliding compliance
wrench uncertainty
Online Access:https://ieeexplore.ieee.org/document/9081917/

Internet

https://ieeexplore.ieee.org/document/9081917/

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