Skip to main content
    • Aa
    • Aa

A motion planning strategy for multifingered hands considering sliding and rolling contacts*

  • Nak Young Chong (a1), Donghoon Choi (a1) and Il Hong Suh (a1)

An algorithm for the motion planning of the multifingered hand is proposed to generate finite displacements and changes in orientation of objects by considering sliding contacts as well as rolling contacts between the fingertip and the object at the contact point. Specifically, a nonlinear optimization problem is firstly formulated and solved to find the minimum joint velocity and the minimum contact force to impart a desired motion to the object at each time step. Then, the relative velocity at the contact point is found by calculating the velocity of the fingertip and the object at the contact point. Finally, time derivatives of the surface variables and the contact angle of the fingertip and the object at the current time step is computed using the Montana's contact equation to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by employing the robotic hand manipulating a sphere with three fingers each of which has four joints

Linked references
Hide All

This list contains references from the content that can be linked to their source. For a full set of references and notes please see the PDF or HTML where available.

3. David J. Montana ,“The Kinematics of Contact and GraspInt. J. Robotics Research 7, No. 3, 1732 (1988).

Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
Please enter your name
Please enter a valid email address
Who would you like to send this to? *


Full text views

Total number of HTML views: 0
Total number of PDF views: 3 *
Loading metrics...

Abstract views

Total abstract views: 64 *
Loading metrics...

* Views captured on Cambridge Core between September 2016 - 23rd June 2017. This data will be updated every 24 hours.