Dynamic Finger Gaits via Pivoting and Adapting Contact Forces
Yuechuan Xue,Ling Tang,Yan-Bin Jia,Yuechuan Xue,Ling Tang,Yan-Bin Jia
For over three decades, finger gaiting has remained largely a subject for theoretical inquiries. Successful execution of a sequence of finger gaits does not simply reduce to planning collision-free paths for the involved fingers. A major issue is how to move the gaiting finger without losing the finger contacts with the object, which will most likely undergo a motion as the contact forces need to ...
