Dynamic optimal grasping of a circular object with gravity using robotic soft-fingertips
Object manipulation usually requires dexterity, encoded as the ability to roll, which is very difficult to achieve with robotic hands based on point contact models (subject to holonomic constraints). As an alternative for dexterous manipulation, deformable contact with hemispherical shape fingertips...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Sciendo
2016-06-01
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| Series: | International Journal of Applied Mathematics and Computer Science |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/amcs-2016-0022 |