Abstract

Fine manipulation by multifingered robot hand is a new avenue in the area of robotic research. The ability to manipulate a part in a dexterous hand depends generally on the contact conditions between the fingers and object. It can be easily observed in fine manipulation where small motions and low velocities lead to dexterous grasp. In this paper we study a strategy for dexterous manipulation, which we call finger gaiting. We show how the finger gaiting may be used to control the fingers of a robot hand to generate the rotational motion of grasped object. A simulation for multifingered robotic hand has been developed for finger gaiting. Paper also investigates the problem of dexterous manipulation, how can robots affects the world around them by means of their end-effector? Dexterous manipulation is fundamental to robot operating independently, but progress in this area has been low.

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