A method of force allocation by optimizing the friction angles at finger contacts was combined with the computed torque method to find the torques to be commanded at finger joints for multifingered systems. In this way, slip can be avoided when the object is grasped or manipulated. The proposed method can be used to efficiently find the input torques, and is applicable for real-time computation. A history-based method is also proposed to improve the smoothness of the input torque commands. Three-dimensional simulation results are given.

Issue Section:
Technical Papers
Topics:
Computation, Finger joints (Carpentry), Friction, Simulation results, Torque
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9.
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20.
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21.
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IEEE Transactions on Robotics and Automation
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22.
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23.
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24.
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25.
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,”
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, Vol.
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.
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