Dynamic Control of Multifingered Hands for Pivoting Operation
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概要
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In this paper, we propose a dynamic control methodof multi ngered hands for pivoting an object in contactwith the environment. This pivoting operation is oftenobserved when a human moves a large or heavy objectsuch as furniture on the oor. Di erent from the conventionalmanipulation of the object by only ngers, thecharacteristics of the pivoting operation is that we canuse the reaction force from the environment. By usingthis reaction force, we can expect the magnitude of theforces applied to the object by the ngers is smaller thanthe conventional manipulation of the object by only ngers.In this paper, taking this characteristics of thereaction force into consideration, we propose a dynamiccontrol method for pivoting. To verify our approach,simulation results are also presented.
- IEEEの論文
- 2001-00-00
IEEE | 論文
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