Showing papers by "Zexiang Li published in 1988"

On grasping and coordinated manipulation by a multifingered robot hand

Abstract: Two problems in the study of multifingered robot hands are considered, namely grasp planning and the determination of coordinated control laws with point contact models. using the dual notions of grasp stability and manipulability, and a procedure previously developed for task modeling, the structure grasp quality measures are defined. These measures are then integrated to devise a grasp planning algorithm. Based on the assumption of point contact models, a computed-torque-like control algorithm is developed for the coordinated manipulation of a multifingered robot hand. This control algorithm, which takes into account both the dynamics of the object and the dynamics of the hand, is computationally effective and can be generalized to allow rolling motion of the object with respect to the fingertip. >

Dynamic Coordination of a Multiple Robotic System with Point Contact

Abstract: This paper treats two fundamental problems of a multiple robotic system: grasp planning and the determination of coordinated control laws with point contact models. First, using the dual notions of grasp stability and manipulability and a procedure we have previously developed for task modeling we define the structure grasp quality measures These measures are then integrated to devise a grasp planing algorithm. Second, based on the assumption of point contact models, we develop a computed-torque-like control algorithm for the coordinated manipulation of a multifingered robot hand. This control algorithm, which takes into account both the dynamics of the object and the dynamics of the manipulators, is computationally effective and can be easily generalized to allow rolling motion of the object with respect to the fingertip.