Gripping a Kitchen Knife on the Cutting Board
Yuechuan Xue,Yan-Bin Jia,Yuechuan Xue,Yan-Bin Jia
Despite more than three decades of grasping research, many tools in our everyday life still pose a serious challenge for a robotic hand to grip. The level of dexterity for such a maneuver is surprisingly "high" that its execution may require a combination of closed loop controls and finger gaits. This paper studies the task of an anthropomorphic hand driven by a robotic arm to pick up and firmly h...
