Kim, BH Yi, BJ Oh, SR Suh, IH 2024-01-21T07:43:04Z 2024-01-21T07:43:04Z 2021-09-01 2004-01 0169-1864 https://pubs.kist.re.kr/handle/201004/137991 Based on the analysis of the stiffness relation between the operational space and the fingertip space of multi-fingered hands, this paper provides a guideline of task-based compliance planning for multi-fingered robotic manipulations. In order to show the characteristics of the task-based stiffness matrix, various two- and three-dimensional examples are illustrated. Also, it is shown that some of the coupling stiffness elements cannot be planned arbitrarily due to grasping geometry. Through the analytical results, it is concluded that the operational stiffness matrix should be carefully specified by considering the location of the compliance center and the grasp geometry of multifingered hands for successful grasping and manipulation tasks. English TAYLOR & FRANCIS LTD DESIGN Task-based compliance planning for multi-fingered robotic manipulations Article 10.1163/156855304322753281 1 ADVANCED ROBOTICS, v.18, no.1, pp.23 - 44 ADVANCED ROBOTICS 18 1 23 44 scie scopus 000220520300002 2-s2.0-1642361471 Robotics Robotics Article DESIGN multi-fingered robotic manipulation compliance planning grasp geometry