Kinematics of finger with rolling contact
Research output: Journal Publications and Reviews (RGC: 21, 22, 62) › 21_Publication in refereed journal › peer-review
Author(s)
Related Research Unit(s)
Detail(s)
| Original language | English |
|---|---|
| Pages (from-to) | 196-197 |
| Journal / Publication | Progress in Natural Science |
| Volume | 9 |
| Issue number | 3 |
| Publication status | Published - 1999 |
Link(s)
| Document Link | Links
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|---|---|
| Link to Scopus | https://www.scopus.com/record/display.uri?eid=2-s2.0-0344390316&origin=recordpage |
| Permanent Link | https://scholars.cityu.edu.hk/en/publications/publication(46e11a0d-88d8-4a69-b927-7ea19e0f7a1f).html |
Abstract
Using the relationships of velocity constraint and the orientation constraint between fingertip surface and body surface, the equations of pure rolling contact over the surfaces of two contacting objects are derived. The effects of the degrees of freedom (d. o. f.) of the finger on the manipulation with rolling contact are discussed. It is found that each finger requires a minimum of 3 d. o. f. in order to permit general motion of the body.
Research Area(s)
- Kinematics, Manipulation, Multifingered robot hand, Pure rolling contact
Citation Format(s)
Kinematics of finger with rolling contact. / Xiong, Caihua; Li, Youfu; Xiong, Youlun et al.
In: Progress in Natural Science, Vol. 9, No. 3, 1999, p. 196-197.Research output: Journal Publications and Reviews (RGC: 21, 22, 62) › 21_Publication in refereed journal › peer-review
