2002 · 45 citations · 20 references
EngineeringMechanical EngineeringRobotics EngineeringGraspingRobot ControlRoboticsDexterous ManipulationGrasp StabilityManipulation ControlMulti-fingered GraspingRobot ManipulationRobotic Hand DesignControl ArchitectureGrasping ControlGripper DesignManipulationRobot Hand DynamicsRobotic GraspingRobotic GrippersThree-finger Grippers
A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture is designed for this special purpose. The gripper system provides the basic means in terms of position and force control to perform experiments about grasping and object motion in a useful way. The gripper can be used to develop and evaluate different approaches of stable grasping and object manipulation. Results of the control of the gripper on joint level, the Cartesian behaviour of the fingers and some experiences with the grasping and manipulation experiments using the presented system are reported.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
20
Analysis of Multifingered Hands
J. B. Kerr, Bernard Roth · The International Journal of Robotics Research · 1986 · 898 citations
Design of the Utah/M.I.T. Dextrous Hand
S.C. Jacobsen, Edwin Iversen, David F. Knutti et al. · 1986 · 660 citations
Engineering, Mechanical Engineering, Robotics Engineering +17