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, Japonya, 31 Ekim - 05 Kasım 2000, ss.1993-1998 identifier identifier

  • Basıldığı Şehir: Takamatsu
  • Basıldığı Ülke: Japonya
  • Sayfa Sayıları: ss.1993-1998


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.