Kim, BH Oh, SR Yi, BJ Suh, IH 2024-01-21T11:05:57Z 2024-01-21T11:05:57Z 2021-09-01 2002-03 1079-8587 https://pubs.kist.re.kr/handle/201004/139763 This paper deals with compliance planning for effective peg-in-hole and peg-out-hole tasks using multi-fingered robot hands without inter-finger coupling. We first observe the fact that some of coupling stiffness elements of the spatial stiffness matrix cannot be planned arbitrary. Then, we analyze the conditions of the specified stillness matrix in the operational space to successfully and more effectively achieve the given peg-in/out hole tasks. It is clearly shown that the location of compliance center on the peg and the coupling stiffness element between the translational and the rotational direction play important roles for successful peg-in/out-hole tasks. Thus, the operational compliance characteristics should be carefully specified and the location of compliance center should be planned on-line for effective assembly and disassembly tasks. Simulation results are included to verify the feasibility of the analytic results. English TAYLOR & FRANCIS INC FORCE CONTROL STIFFNESS DESIGN OBJECT Compliance planning for dextrous assembly tasks using multi-fingered robot hands Article 10.1080/10798587.2002.10644197 1 INTELLIGENT AUTOMATION AND SOFT COMPUTING, v.8, no.1, pp.51 - 64 INTELLIGENT AUTOMATION AND SOFT COMPUTING 8 1 51 64 scie scopus 000174035000005 2-s2.0-0346109697 Automation & Control Systems Computer Science, Artificial Intelligence Automation & Control Systems Computer Science Article FORCE CONTROL STIFFNESS DESIGN OBJECT multi-fingered robot hands peg-in-hole and peg-out-hole tasks compliance planning