Computation of Grasping and Manipulation for Multi-Fingered Robotic Hands

摘要

We present the grasping and manipulation of multi-fingered hands. The grasping models in common use are introduced with a prototype of multi-fingered hand. The developing trends of the multifingered hand are prospected. Several representative methods on grasp mechanism are reviewed. On the basis of investigating the structure and architecture of human hands anatomically, the force-closure, form-closure and some indexes for evaluating grasping quality are analyzed qualitatively while the manipulability and stability are studied quantitatively. Several typical methods for grasping planning and contact force solutions are induced. The future research is presented and discussed in this area.