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.


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    Title :

    Experimental approach on grasping and manipulating multiple objects


    Additional title:

    Lect Notes Control Inf Sci


    Contributors:


    Publication date :

    2008-04-30


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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