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

Durna M., Erkmen A., Erkmen I.

IEEE/Robotics-Society-of-Japan International Conference on Intelligent Robots and Systems (IROS 2000), Takamatsu, Japan, 31 October - 05 November 2000, pp.1993-1998 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • City: Takamatsu
  • Country: Japan
  • Page Numbers: pp.1993-1998
  • Middle East Technical University Affiliated: Yes


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.