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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This work is licensed under a 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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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.