In-hand forward and inverse kinematics with rolling contact
Robotic hands use rolling contact to manipulate a grasped object to a desired location, even when the finger and the palm linkage mechanisms lack degrees of freedom. This paper presents a systematic approach to the forward and inverse kinematics of in-hand manipulation. The moving frame method in di...
| Main Authors: | , , |
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| Format: | Journal Article |
| Published: |
Cambridge University Press
2017
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| Online Access: | http://hdl.handle.net/20.500.11937/51304 |