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• W3204052890 abstract "Abstract The paper describes a kinematic method for robotic in-hand manipulation of objects. The method focuses on repositioning the object using a combination of sticking and sliding robotic contacts. Two fingertips with sliding contacts are fixed in space while the remaining fingertips actively manipulate the object without a change in the point of contact with the object. When sliding over two fixed contacts, the object is constrained to a “three-parameter twist space” if it is not programmed to rotate about the line joining the two fixed contacts. A gradient-descent-based kinematic algorithm is developed to project the desired twist to the allowable twist space, generating a movement sequence of robotic fingertips. The transition from fixed support vis-á-vis the sticking contacts for manipulating the object also emerges from the algorithm." @default.
• W3204052890 created "2021-10-11" @default.
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• W3204052890 date "2021-09-02" @default.
• W3204052890 modified "2023-09-27" @default.
• W3204052890 title "Algorithmic Selection of Sliding-Sticking Contacts in Robotic In-Hand Manipulation" @default.
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• W3204052890 doi "https://doi.org/10.1115/1.4052337" @default.
• W3204052890 hasPublicationYear "2021" @default.
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