Functionally Divided Manipulation Synergy for Controlling Multi-fingered Hands
Kazuki Higashi,Keisuke Koyama,Ryuta Ozawa,Kazuyuki Nagata,Weiwei Wan,Kensuke Harada,Kazuki Higashi,Keisuke Koyama,Ryuta Ozawa,Kazuyuki Nagata,Weiwei Wan,Kensuke Harada
Synergy provides a practical approach for expressing various postures of a multi-fingered hand. However, a conventional synergy defined for reproducing grasping postures cannot perform in-hand manipulation, e.g., tasks that involve simultaneously grasping and manipulating an object. Locking the position of particular fingers of a multi-fingered hand is essential for in-hand manipulation tasks eith...
