Abstract
This paper presents a general, nonholonomic dextrous manipulation and finger gaiting technique for robotic grasping problems. This method is general in that it is independent of the geometry of the grasped object and independent of the morphology of the manipulating hand. This method is based upon a nonholonomic motion planning method for smooth system that has been extended to a certain class of discontinuous systems by recognizing a particular generic geometric structure underlying robotic grasping problems, called a stratification which is a decomposition of the configuration space of the system into subsets which correspond to the various combinations of fingers contacting the object.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
