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Adaptive Gait Manipulation for Robotic Hands by JM is a document available to read on EtoBox.

This document presents a method for continuous manipulation of objects using a three-fingered robotic hand. The method involves identifying basic finger motion primitives and using contact events to trigger online replanning of finger movements. This allows the fingers to change contact points and continuously rotate or move an object like a cup, maintaining balance through adaptive switching of finger gaits. Experiments show the approach enables reliable manipulation even when contact is broken during move

Author

JM

Language

EN