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Proceedings Paper

Dextrous manipulation planning and control
Author(s): Zexiang Li; J. J. Xu; Li Han
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Paper Abstract

Dextrous manipulation is a fundamental problem in the study of multifingered robotic hands. Given a hand and an object to be manipulated by the hand in an environment filled with obstacles, the main objectives of dextrous manipulation are to have the hand grasp the object and transfer it from a starting configuration to a goal configuration without collision. To fulfill such a task in general, we will need: (a) a manipulation planner to generate a "feasible" path for the hand; and (b) a controller to implement the planned path. In this overview paper, we define the manipulation planning problem and present a unified Control System Architecture for Multifingered Manipulation (CoSAM2). By incorporating the various kinematic and static relationships of a multifingered robotic hand system with proper sensory data inputs at different stages, CoSAM2 achieves the various objectives of dextrous manipulation. Theoretical background of the system design along with real-time experimental results are described.

Paper Details

Date Published: 2 May 2006
PDF: 10 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423X (2 May 2006); doi: 10.1117/12.664787
Show Author Affiliations
Zexiang Li, The Hong Kong Univ. of Science and Technology (Hong Kong China)
J. J. Xu, The Hong Kong Univ. of Science and Technology (Hong Kong China)
Li Han, Clarkson Univ. (United States)


Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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