JRM Vol.1 No.2 pp. 158-159
doi: 10.20965/jrm.1989.p0158


An Approach to Human-Like Grasping Control

Hiroshi Endo and Mitsuo Wada

Industrial Products Research Institute, AIST, MITI, 1-1-4 Higashi, Tsukuba-shi, Ibaraki 305, Japan

August 20, 1989
Robot hand, Multi joint arm, Grasping control, Flexible action
In order to grasp softly and stably with multi joint arm, the motion control of adapting along an object and pinching it are very important. Then the adapting motion is done by operating the active of winding and lateral suppression to change its formation, and the pinching one is done by controlling arms' root joints co-operatively. From the experiment with 6-joint 7-link arm, the control method simulating those motions was found.
Cite this article as:
H. Endo and M. Wada, “An Approach to Human-Like Grasping Control,” J. Robot. Mechatron., Vol.1 No.2, pp. 158-159, 1989.
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