International Journal of Fuzzy Logic and Intelligent Systems

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Task-Based Analysis on Number of Robotic Fingers for Compliant Manipulations

  • Kim, Byoung-Ho (Bio-Mimetic Control & Robotics Lab., School of Electrical and Mechatronics Eng., Kyungsung Univ.)
  • Received : 2009.07.28
  • Accepted : 2009.11.06
  • Published : 2009.12.25
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Abstract

This paper presents a task-based analysis on the number of independent robotic fingers required for compliant manipulations. Based on the stiffness relation between operational space and fingertip space of a multi-fingered object manipulating system, we describe a technique for modulation of the fingertip stiffness without inter-finger coupling so as to achieve the desired stiffness specified in the operational space. Thus, we provides a guide line how many fingers are basically required for successful multi-fingered compliant tasks. Consequently, this paper enables us to assign effectively the number of fingers for various compliant manipulations by robot hands.

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References

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