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- W2335264284 abstract "To manipulate an object by a multifingered hand stably, frictions at the contact point should be large enough. Although a soft-finger type contact provides high friction contacts, its frictional moment around the contact normal makes the manipulation control difficult. In this paper, we propose a control scheme to manipulate an object by a multifingered hand with soft fingertips. The proposed scheme cancels the frictional moment around the contact normal according to the direction of the relative rotation between the fingertip and the object.A necessary and sufficient condition of the frictional moment compensation is derived. Simulation results show the effectiveness of the proposed control scheme." @default.
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- W2335264284 date "1999-01-01" @default.
- W2335264284 modified "2023-10-02" @default.
- W2335264284 title "Frictional Spin Moment Compensation at Contact Points for Object Manipulation by a Multifingered Hand with Soft Fingertips." @default.
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- W2335264284 doi "https://doi.org/10.7210/jrsj.17.876" @default.
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