@inbook{e9e0b456c5b441c1873a6069f0f2599a,
title = "Rolling Contact in Kinematics of Multifingered Robotic Hands",
abstract = "Rolling contact has been used in fine-manipulation by robot hands. It provides an opportunity to manipulate an object to a desired location even when the finger linkages do not have enough degrees of freedom. This paper was aimed to provide a systematic approach to fine-manipulation of multifingered robot hands with rolling contact. We established a Jacobian of a multifingered hand with point contact and formulated the forward and inverse characteristic equations in terms of joint velocities and contact trajectories. The results of the forward kinematics are useful for simulation and off-line programming, and the results of the inverse kinematics provide direct inputs to a kinematic controller.",
keywords = "Contact, Kinematics, Manipulation, Multifingered hands, Rolling",
author = "Lei Cui and Dai, {Jian S.}",
note = "Publisher Copyright: {\textcopyright} 2018, Springer International Publishing AG.",
year = "2018",
doi = "10.1007/978-3-319-56802-7_23",
language = "English",
series = "Springer Proceedings in Advanced Robotics",
publisher = "Springer Science and Business Media B.V.",
pages = "217--224",
booktitle = "Springer Proceedings in Advanced Robotics",
}