Journal ArticleDOI
The kinematics of contact and grasp
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The relation ship between the relative motion of two fingers grasping an object and the motion of the points of contact over the object surface is derived and the following applications are explored.Abstract:
The kinematics of contact describe the motion of a point of contact over the surfaces of two contacting objects in response to a relative motion of these objects. Using concepts from differential geometry, I derive a set of equations, called the contact equations, that embody this relationship. I employ the contact equations to design the following applications to be executed by an end-effector with tactile sensing capability: ( 1) determining the curvature form of an unknown object at a point of contact; and (2) following the surface of an unknown object. The contact equations also serve as a basis for an investigation of the kinematics of grasp. I derive the relation ship between the relative motion of two fingers grasping an object and the motion of the points of contact over the object surface. Based on this analysis, we explore the following applications: (1) rolling a sphere between two arbitrarily shaped fingers ; (2) fine grip adjustment ( i.e., having two fingers that grasp an unknown object loca...read more
Citations
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Proceedings ArticleDOI
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References
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Book
A comprehensive introduction to differential geometry
TL;DR: Spivak's comprehensive introduction to differential geometry as discussed by the authors takes as its theme the classical roots of contemporary differential geometry, and explains why it is absurdly inefficient to eschew the modern language of manifolds, bundles, forms, etc., which was developed precisely to rigorize the concepts of classical differential geometry.
Journal ArticleDOI
Compliance and Force Control for Computer Controlled Manipulators
TL;DR: A theory of force control based on formal models of the manipulator and the task geometry is presented, isolating the programmer from the fundamental complexity of low-level manipulator control.
Journal ArticleDOI
Analysis of Multifingered Hands
Jeffrey Kerr,Bernard Roth +1 more
TL;DR: This paper discusses three fundamental problems relating to grasping and manipulating objects within an articulated, multifingered hand: determining how hard to squeeze an ob ject in order to ensure a secure grasp, determining the finger- joint motions required to produce a desired motion of the object, and determining the workspace of the hand.