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Grasp Strategy Simplified by Detaching Assist Motion (DAM)

  • Makoto Kaneko
  • Tatsuya Shirai
  • Kensuke Harada
  • Toshio Tsuji
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 271)

Abstract

For a small object placed on a table, human easily captures it within the hand by changing the finger posture from upright to curved ones after each finger makes contact with the object. A series of this motion is called as Detaching Assist Motion (DAM). This paper discusses a generalized grasp strategy where a multi-fingered robot hand can approach an object and finally envelop it, irrespective of the size of object.

Keywords

Robot Hand Power Grasp Grasp Strategy External Wrench Grasp Pattern 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Makoto Kaneko
    • 1
  • Tatsuya Shirai
    • 1
  • Kensuke Harada
    • 1
  • Toshio Tsuji
    • 1
  1. 1.Department of Industrial and Systems EngineeringHiroshima UniversityHigashi-HiroshimaJapan

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