An Exploration of Nonprehensile Two-Palm Manipulation: Planning and Execution - Robotics Institute Carnegie Mellon University

An Exploration of Nonprehensile Two-Palm Manipulation: Planning and Execution

Conference Paper, Proceedings of 7th International Symposium on Robotics Research (ISER '95), October, 1995

Abstract

This paper describes our current research into nonprehensile palm manipulation. The term “palm” refers to the use of the entire device surface during manipulation, as opposed to use of the fingertips alone. The term “nonprehensile” means that the palms hold the object without wrapping themselves around it, as distinguished from a force/from closure grasp often employed by a fingered hand. Indeed, nonprehensile operations such as purposeful sliding and constrained dropping constitute important palm primitives.

Notes
A revised version of this paper appeared in the International Journal of Robotics Research, Vol. 17, No. 5, 1998

BibTeX

@conference{Erdmann-1995-14001,
author = {Michael Erdmann},
title = {An Exploration of Nonprehensile Two-Palm Manipulation: Planning and Execution},
booktitle = {Proceedings of 7th International Symposium on Robotics Research (ISER '95)},
year = {1995},
month = {October},
}