Enhancing the Dexterity of a Robot Hand Using Controlled Slip

Title: en_US Enhancing the Dexterity of a Robot Hand Using Controlled Slip
Creator: en_US Brock, David L.
Date: 2004-10-20T20:10:47Z
Date Available: 2004-10-20T20:10:47Z
Date Issued: en_US 1987-05-01
Identifier: en_US AITR-992
uri: http://hdl.handle.net/1721.1/6960
Abstract: en_US Humans can effortlessly manipulate objects in their hands, dexterously sliding and twisting them within their grasp. Robots, however, have none of these capabilities, they simply grasp objects rigidly in their end effectors. To investigate this common form of human manipulation, an analysis of controlled slipping of a grasped object within a robot hand was performed. The Salisbury robot hand demonstrated many of these controlled slipping techniques, illustrating many results of this analysis. First, the possible slipping motions were found as a function of the location, orientation, and types of contact between the hand and object. Second, for a given grasp, the contact types were determined as a function of the grasping force and the external forces on the object. Finally, by changing the grasping force, the robot modified the constraints on the object and affect controlled slipping slipping motions.
Extent: 21122278 bytes; 7785329 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-992