Preshape induced grasp controller for dextrous manipulation with a multifingered robot hand

Baysal C. V. , ERKMEN A. M.

IEEE International Conference on Mechatronics (ICM 2004), İstanbul, Türkiye, 3 - 05 Haziran 2004, ss.78-83 identifier identifier

  • Cilt numarası:
  • Doi Numarası: 10.1109/icmech.2004.1364416
  • Basıldığı Şehir: İstanbul
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.78-83


In a dextrous manipulation, one of the major problems that remains to be solved is the determination of an appropriate preshape for grasping given the object, under a given manipulation and the task. In order to have a successful grasp execution, the system should have a successful grasp preparation at preshaping phase. Hence, the grasp preparation or preshaping is one of the critical issues for manipulation with a dextrous robot hand. Stability analyses are important for grasping with a robot hand In our work, we design and implement an Intelligent Control System for precision grasping, virtual grasping with an anthropomorphic robot hand, beginning from hand preshaping, according to physical object, task and effects of contact wrench patterns, using grasp performance measures.