In-hand forward and inverse kinematics with rolling contact

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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...

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Bibliographic Details
Main Authors:	Cui, Lei, Sun, J., Dai, J.
Format:	Journal Article
Published:	Cambridge University Press 2017
Online Access:	http://hdl.handle.net/20.500.11937/51304

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