Open AccessOn Soft Fingertips for In-Hand Manipulation: Modeling and Implications for Robot Hand Design
Author(s) -
Qiujie Lu,
Nicolás Rojas
Publication year - 2019
Publication title -
ieee robotics and automation letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.123
H-Index - 56
ISSN - 2377-3766
DOI - 10.1109/lra.2019.2906544
Subject(s) - robot hand , computer science , robot , grasp , workspace , computation , kinematics , affine transformation , object (grammar) , operability , contact force , point (geometry) , simulation , computer vision , artificial intelligence , algorithm , mathematics , geometry , physics , software engineering , classical mechanics , quantum mechanics , programming language
Contact models for soft fingertips are able to precisely compute deformation when information about contact forces and object position is known, thus improving the traditional soft finger contact model. However, the functionality of these approaches for the study of in-hand manipulation with robot hands has been shown to be limited, since the location of the manipulated object is uncertain due to ...
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