Task space dynamic analysis of multiarm system configurations
International Journal of Robotics Research
A theory of generalized inverses applied to robotics
International Journal of Robotics Research
Guideline for Designing Haptic Master Hands Based on Dynamic Multi-Fingered Manipulability
HAPTICS '03 Proceedings of the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'03)
A general dynamic force distribution algorithm for multifingeredgrasping
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Study of optimal behavior in complex virtual training systems
Proceedings of the 2011 international conference on Virtual and mixed reality: systems and applications - Volume Part II
Hi-index | 0.00 |
In this paper, we extend the concept of dynamic manipulability to evaluate the dynamic property of multifingered grasping systems consisting of amultifingered hand and a grasped object, and propose a measure of dynamic manipulability of multifingered grasping. Similar to the original dynamic manipulability, the proposed measure evaluates the mapping from a set of realizable joint torques to a set of resultant accelerations of the grasped object, which forms an ellipsoid under a constant internal force constraint. It is clearly shown that the internal forces not only affect the volume of the ellipsoid, but also the amount of offset of the ellipsoid, while the gravity forces simply induce an offset. A new measure, i.e., omnidirectionality, is introduced to add a penalty to the original manipulability measure, which simply evaluates the volume of the ellipsoid, depending on how much the ellipsoid is offset. Numerical examples by using a simple two-fingered robot hand are shown to demonstrate the effectiveness of the proposed measure.