卢江舟, 熊有伦, 杨叔子. 机器人多指手的控制与传感器技术[J]. 机器人, 1995, 17(3): 184-192..
LU Jiangzhou, XIONG Youlun, YANG Shuzi. THE CONTROL AND SENSOR TECHNOLOGY OF MULTI-FINGERED HAND. ROBOT, 1995, 17(3): 184-192..
Abstract:This paper gives a survey to the research works of control and sensor for multi-fingered hand. Attention is paid to the introduction of the control method and active sensing. The kinematics,dynamics and loadsharing are also stated.
[1] Salisbury J K, Craig J J. Articulated Hands, Force Control and Kinematics Issues. The International Journal of Robotics Research, 1987,1(1):3-17.
[2] Jacobsen S C. Design of the Utah/MIT Dexterous Hand. In Proceeding of IEEE Conference on Robotics and Automalion, 1986:1520-1532.
[3] Venkatarama S T,Iberall T. Dexterous Robot Hand. Springer-Vertag World Publishing Corp, 1990.
[4] Vguyen T. A Topological Algorithm for Continuous Grasp Planning. In Proceeding of IEEE Conference on Robotics and Automation,990;670-675.
[5] XIONG Y L et al. Geometric Modeling of Bounded and Frictional Grasp. Robotics,1993,11(2):185-192.
[6] Cole A et al. Dynamic Control of Sliding by Robot Hand for Grasping. IEEE J Robotics Automation,1989,8(1):42-52.
[7] Cole A et al. Kinematics and Control of Multiiingered Hands with Rolling Contacts. IEEE Trans, Automatic Control 1989,34(4):389-404.
[8] Satry S, LI Z X. Robot Motion Planning with Vonholonomic Constraints. In Proceedings of the 28th Conference on Decision and Control,Tampa, Florida,1989:211-216.
[9] LI Z X et al. Grasping and Coordinated Manipulation by a Multifingered Robot Hand. The International Journal of Robotics Research,1988,8(4):33-57.
[10] Urin D E,CHEVG F T. General Dynamic Formulating for The Force Distribution Equation. In Processing of International Conference on Advanced Robot,1989: 525-546.
[11] CHEVG F T. Orin D. Efficient Algorithm for Optimal Force Distribution the Compact Dual LP Method. In IEEE Conference on Robotics and Automation,1989:943-950.
[12] Kumar V et al. Suboptimal Algorithms for Force Distribution in Multifingered Gripper. IEEE Trans,Robotics Automation, 1989,5(4):491-497.
[13] Vakamura Y. Vagaik, Yoshikawa T et al. Mechanics of Coordinative Manipulation by Multiple Robotics Mechanisms.In Proceeding of IEEE Conference on Robotics and Automation,1987:991-999.
[14] Arimoto S et al. Cooperative Motion Control of Multiple Robot Arms of Fingers. In Proceeding of IEEE Conference on Robotics and Automation,1987:1407-1412.
[15] Murray R M. Sastry S S. Control Experiments in Planar Manipulation and Grasping. In Proceeding of IEEE Conference on Robotics and Automation, 1989: 624-629.
[16] Yoshikawa T,ZHENG X Z. Coordinated Dynamic Hybrid Position/Force Control for Multiple Robot Manipulators Handling One Constrained Object. The International Journal of Robotics Research,1993,12(3):219-230.
[17] Cole A. Constrained Motion of Grasped Objects by Hybrid Control. In Proc 20th Coni on Decision and Control,1990:1954-1959.
[18] Mason M T. Robot Hand and Mechanics of Manipulation. The MIT Press. 1985.
[19] Stan G P. Experiments in Assembly Using a Dexterous Hand. IEEE Trana, Robotics Automation. 1990,6(3). 342-347
[20] Murray R M. Control Primitive for Robot Syatema. IEEE Trans on Sya,Man, Cyb. 1992.11(1):183-193.
[21] Hollerbach K. An Experimental Study of Hierarchical Control Lawa for Grasping and Manipulation Using a Two-Fin-gered Planar Hand. In Proceeding of IEEE Conference on Robotics and Automation,1992s 2270-2275.
[22] Hanes M D tt al. Neural Network Control of Force Distribution for Power Grasp. In Proceeding of IEEE Conference on Robotics and Automation , 1991: 746-751.
[23] LIU H et al. Building a Generic Architecture (or Robot Hand Control. In Proc IEEE Int Conf on Neural Networks,1988: 567-574.
[24] Allen P. Mapping Haptic Exploratory Procedures to Multiple Shape Representations. In Proceeding of IEEE Conference on Robotics and Automation, 1990, 1679-1684.
[25] Roberts K S. Robot Active Touch Exploration:Constraints and Strategies. In Proceeding of IEEE Conference on Robotics and Automation, 1989, 980-985.
[26] Mokota Kaneko. Kazuo Tanie. Contact Point Detect for Grasping an Unknown Object Using Sell-Posture Changeability. IEEE Trans on Robot and Automation, 1994.10(3):355一367.
[27] Stansfield S A. A Haptic System for Multifingered Hand. In Proceeding of IEEE Conferece on Robotics and Automation Sacramcnto. California, 1991:658-664.
[28] Jacobaen S C et al. Design of Tactile Sensing Systems for Dexterous Manipulators. In Proceeding of IEEE Conference on Robotics and Automation, 1987.
[29] Clark D. Dennel J, Hong J et al. Teleoperation Experiments with a Utah/MIT Hand and a VPL Data Glove, NASA Conf on Space Telerobot ica,Pasadena, Ca, 1989.
[30] Burdea G, ZHUANG J C. Detroua Telerobotics with Force Feedback——an Overview. Part 1. Robotics, 1991,9(2):171-178, Part 2. Robotics, 1991.9(3):291-298.