M. Villalva-Lucio

Dexterous dynamic optimal grasping of a circular object with pose regulation using redundant robotic soft-fingertips

Dexterous object manipulation with robotic hands (subject to holonomic constraints) usually requires the capacity of fingertips to roll onto the object, which is very difficult to achieve with frictionless point contact model . As an alternative, deformable contact model has been considered based on…