Algorithm for Computing Fingertip Positions of a Multifingered Hand in Three Dimensions
This paper discusses an algorithm for computing fingertip positions of a multifingered hand in three dimensions. The problem of computing fingertip positions which satisfy equilibrium equations becomes a nonlinear programming problem. The nonlinear condition of the problem is bilinear. Hence, the problem is reduced to a linear programming problem by using the optimum solution obtained from the relaxed problem of the nonlinear programming problem.
- JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing 38(4), 735-742, 1995-12-01