Robotic Handwriting: Multi-contact Manipulation based on Reactional Internal Contact Hypothesis
- Robotic Handwriting: Multi-contact Manipulation based on Reactional Internal Contact Hypothesis
- 김성균; 조준희; 오용환; 오상록; Siddhartha Srinivasa; Maxim Likhachev
- Robot Hand; Handwriting; Multi-contact; Reactional Internal Contact Hypothesis; Grasping force
- Issue Date
- IROS (IEEE/RSJ International Conference on
Intelligent Robots and Systems)
- , 877-884
- When one uses a hand-held tool, the fingers often make the tool to be in contact with the palm in the form of multi-contact manipulation. Multi-contact manipulation is useful for object-environment interaction tasks because it can provide both powerful grasping of the object body and dexterous manipulation of the object end-effector. However, dealing with the internal link contact with the object is not trivial. In this paper, we propose Reactional Internal Contact Hypothesis that regards the internal contact force as a reaction force so that the desired finger force can be reduced. By taking a handwriting task as an example, optimal configuration search
and grasping force computation problems are addressed based on this hypothesis and validated via dynamic simulation.
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- KIST Publication > Conference Paper
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