Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

Sign In to gain access to subscriptions and/or personal tools.
The International Journal of Robotics Research
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via HighWire
Right arrow Citing Articles via Web of Science (8)
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Rus, D.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Complore   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati   Add to Twitter  
What's this?

In-Hand Dexterous Manipulation of Piecewise-Smooth 3-D Objects

Daniela Rus

Robotics Laboratory, Department of Computer Science, Dartmouth College, Hanover, New Hampshire 03755, USA

We present an algorithm called finger tracking for in-hand manipulation of three-dimensional objects with independent robot fingers. We describe and analyze the differential control for finger tracking and extend it to on-line continuous control for a set of cooperating robot fingers. We show experimental data from a simulation. Finally, we discuss global control issues for finger tracking, and compute lower bounds for reorientation by finger tracking. Our algorithm is computationally efficient, exact, and takes into consideration the full dynamics of the system.

The International Journal of Robotics Research, Vol. 18, No. 4, 355-381 (1999)
DOI: 10.1177/02783649922066268
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?


This article has been cited by other articles:


Home page
 The International Journal of Robotics ResearchHome page
I. Harmati, B. Lantos, and S. Payandeh
On Fitted Stratified and Semi-Stratified Geometric Manipulation Planning with Fingertip Relocations
The International Journal of Robotics Research, May 1, 2002; 21(5-6): 489 - 510.
[Abstract] [PDF]