The self-reconfiguration of a holonic hand: The holonic regrasp

2000-11-05
Durna, M
Erkmen, Aydan Müşerref
Erkmen, İsmet
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.

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Citation Formats
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.