This paper discusses grasping and manipulating multiple objects by an enveloping style. We formulate the motion constraint for enveloping multiple objects under rolling contacts. We further provide a sufficient condition for producing a relative motion between objects. We show that a three-fingered robot hand experimentally succeeds in lifting up two cylindrical objects from a table and in changing their relative positions within the hand.
Experimental approach on grasping and manipulating multiple objects
Lect Notes Control Inf Sci
2008-04-30
9 pages
Article/Chapter (Book)
Electronic Resource
English
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