@inproceedings{Kim2014Robotic,
	author    = {Jo, Joonhee and
	Kim, Sung-Kyun and
	Oh, Yonghwan and
	Oh, Sang-Rok},
	title     = {Robotic handwriting: Multi-contact manipulation based on Reactional Internal Contact Hypothesis},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
	year      = {2014},
	pages     = {877--884},
	doi       = {10.1109/IROS.2014.6942663},
	abstract  = {When one uses a hand-held tool, the fingers often make the tool to be in contact with the palm in the form of multi-contact manipulation. Multi-contact manipulation is useful for object-environment interaction tasks because it can provide both powerful grasping of the object body and dexterous manipulation of the object end-effector. However, dealing with the internal link contact with the object is not trivial. In this paper, we propose Reactional Internal Contact Hypothesis that regards the internal contact force as a reaction force so that the desired finger force can be reduced. By taking a handwriting task as an example, optimal configuration search and grasping force computation problems are addressed based on this hypothesis and validated via dynamic simulation.},
	keywords  = {robot hand, hand writing, multi-contact},
	url_pdf   = {files/2nd_author/Kim2014Robotic.pdf},
	url_video = {https://youtu.be/K-uz-XPupkI},
	url_link  = {https://ieeexplore.ieee.org/document/6942663},
}

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