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The self-reconfiguration of a holonic hand: The holonic regrasp
Date
2000-11-05
Author
Durna, M
Erkmen, Aydan Müşerref
Erkmen, İsmet
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Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
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This paper uses a holonic hand model introduced in our early works as composed of 2-stems-of-links-1-joint nonconvex biped planar holons corking in colony in order to perform dexterous grasps. This paper focuses on the reconfiguration control of the colony that we structure as a sequence of planar grasp operations defining a holonic regrasp, which uses a graph theoretic formalization of configuration changes that occur in this holonic hand during this regrasping phase.
Subject Keywords
Self-reconfigurable robots
,
Distributed robotic structures
,
Holonic grasp
,
Multi-fingered self-reconfigurable robotic hands
URI
https://hdl.handle.net/11511/54566
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Department of Electrical and Electronics Engineering, Conference / Seminar
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M. Durna, A. M. Erkmen, and İ. Erkmen, “The self-reconfiguration of a holonic hand: The holonic regrasp,” 2000, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/54566.