On the mobility and manipulability of general multiple limb robots

Bicchi, Antonio; Melchiorri, Claudio; Balluchi, D.

doi:10.1109/70.370503

Cited by 175 publications

(112 citation statements)

References 20 publications

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“…Characterization for both velocity and force ellipsoids is presented. When applied to multiple cooperative arms employing a rigid grasp or to multiple finger grasping, this work is closely related to the work by [10] and [11] and is also closely related to the past work by [12] and [13]. We also extend the important concepts of grasp stability and manipulability.…”

mentioning

confidence: 88%

“…This can be equivalently stated as (13) where is the "internal force" (in the multiple-arm context, the squeeze force).…”

Section: B Force Balancementioning

confidence: 99%

“…We obtain explicit characterization for both properties and present their physical interpretation. As illustrations, we include a planar Gough-Stewart platform, a full 6-DOF Gough-Stewart platform, and a planar two-finger grasping example from [12] and [13].…”

mentioning

confidence: 99%

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Kinematic manipulability of general constrained rigid multibody systems

Wen¹,

Wilfinger²

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

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Abstract-This paper extends the kinematic manipulability concept commonly used for serial manipulators to general constrained rigid multibody systems. Examples of such systems include multiple cooperating manipulators, multiple fingers holding a payload, multileg walking robots, and variable geometry trusses. Explicit formulas for velocity and force manipulability ellipsoids are derived and their duality explained. Singularities are classified into two types: 1) unmanipulable singularity; 2) unstable singularity. The former is similar the singularities in serial chains where velocity manipulability ellipsoid is degenerate and force manipulability ellipsoid infinite. The latter is unique to parallel mechanisms, the velocity manipulability ellipsoid becomes infinite and force manipulability degenerate. In the case of multifinger grasp, these concepts correspond to unmanipulable or unstable grasps.

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mentioning

confidence: 88%

“…This can be equivalently stated as (13) where is the "internal force" (in the multiple-arm context, the squeeze force).…”

Section: B Force Balancementioning

confidence: 99%

See 1 more Smart Citation

Kinematic manipulability of general constrained rigid multibody systems

Wen¹,

Wilfinger²

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

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“…Before introducing the optimal configuration search process, let us define the grasp quality metric, Q g , in the multi-contact manipulation setting. Bicchi has pointed out that the manipulability index is the ratio of the output performance to the input effort, in both velocity and force aspects [22], [23]. At that point of view, the force manipulability can be defined as…”

Section: B Optimal Configuration Searchmentioning

confidence: 99%

“…From the solution, λ * d , for (22), the optimal finger force can be obtained, and the joint torque for each finger robot is computed as in [26].…”

Section: Grasping Force Computationmentioning

confidence: 99%

Robotic handwriting: Multi-contact manipulation based on Reactional Internal Contact Hypothesis

Kim

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-When one uses a hand-held tool, the fingers often make the tool to be in contact with the palm in the form of multi-contact manipulation. Multi-contact manipulation is useful for object-environment interaction tasks because it can provide both powerful grasping of the object body and dexterous manipulation of the object end-effector. However, dealing with the internal link contact with the object is not trivial. In this paper, we propose Reactional Internal Contact Hypothesis that regards the internal contact force as a reaction force so that the desired finger force can be reduced. By taking a handwriting task as an example, optimal configuration search and grasping force computation problems are addressed based on this hypothesis and validated via dynamic simulation.

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Redundancy resolution and obstacle avoidance for cooperative industrial robots

1999

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Planning methods for effective manipulation of single or multiple redundant arm systems must take account of DOF, the task, constraints, and joint drifts. Here, a new approach to redundancy resolution and obstacle avoidance for cooperative robot arms is proposed. In this development, a relative Jacobian and a relative dexterity measure for cooperative robot arms are derived. A nonlinear programming method is used to optimize the relative dexterity while satisfying cooperative task requirements, limits on joint angles, and obstacle avoidance. With this approach, it is not necessary to balance the weightings between the cost term to be optimized and the penalty from constraints. Configuration jumps over obstacles are avoided. Further, since globally optimal joint configurations are produced, drifts in joint configurations will be absent from the resulting configurations. This article includes several illustrative examples to demonstrate the effectiveness and usefulness of this approach. Results have indicated the benefits of both the relative dexterity and the sum of individual arm dexterities in planning of cooperative tasks. ©1999 John Wiley & Sons, Inc.

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On the mobility and manipulability of general multiple limb robots

Cited by 175 publications

References 20 publications

Kinematic manipulability of general constrained rigid multibody systems

Kinematic manipulability of general constrained rigid multibody systems

Robotic handwriting: Multi-contact manipulation based on Reactional Internal Contact Hypothesis

Redundancy resolution and obstacle avoidance for cooperative industrial robots

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