Abstract
For a small object placed on a table, human easily captures it within the hand by changing the finger posture from upright to curved ones after each finger makes contact with the object. A series of this motion is called as Detaching Assist Motion (DAM). This paper discusses a generalized grasp strategy where a multi-fingered robot hand can approach an object and finally envelop it, irrespective of the size of object.
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Kaneko, M., Shirai, T., Harada, K., Tsuji, T. (2001). Grasp Strategy Simplified by Detaching Assist Motion (DAM). In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_14
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DOI: https://doi.org/10.1007/3-540-45118-8_14
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