6 accepted papers
Grasp planning must consider an object's local geometry (at the finger contacts), for the range of applicable wrenches under friction, and its global geometry, for force closure and grasp quality. Most everyday objects have curved surfaces unamenable to a pure combinatorial approach but treatable wi
Despite decades of steady research progress, the robotic hand is still far behind the human hand in terms of dexterity and versatility. A milestone in this quest for human-level performance will be possessing the skills of manipulating hand tools, for their non-trivial geometries and for the intrica…
For over three decades, finger gaiting has remained largely a subject for theoretical inquiries. Successful execution of a sequence of finger gaits does not simply reduce to planning collision-free paths for the involved fingers. A major issue is how to move the gaiting finger without losing the fin…
Despite more than three decades of grasping research, many tools in our everyday life still pose a serious challenge for a robotic hand to grip. The level of dexterity for such a maneuver is surprisingly "high" that its execution may require a combination of closed loop controls and finger gaits. Th…
Effectiveness of cutting is measured by the ability to achieve material fracture with smooth knife movements. The work performed by a knife overcomes the material toughness, acts against the blade-material friction, and generates shape deformation. This paper studies how to control a 2-DOF robotic a…
This paper studies dexterous manipulation in the plane by a two-fingered hand in the plane. The dynamics of each finger, which consists of two links with coupled joints, are derived based on Lagrangian mechanics. As an object is being manipulated, its orientation and the two independent joint angles…