{"_id":"E2X8TxSzqdyGedJQc","bibbaseid":"jo-kim-oh-oh-robotichandwritingmulticontactmanipulationbasedonreactionalinternalcontacthypothesis-2014","author_short":["Jo, J.","Kim, S.","Oh, Y.","Oh, S."],"bibdata":{"bibtype":"inproceedings","type":"inproceedings","author":[{"propositions":[],"lastnames":["Jo"],"firstnames":["Joonhee"],"suffixes":[]},{"propositions":[],"lastnames":["Kim"],"firstnames":["Sung-Kyun"],"suffixes":[]},{"propositions":[],"lastnames":["Oh"],"firstnames":["Yonghwan"],"suffixes":[]},{"propositions":[],"lastnames":["Oh"],"firstnames":["Sang-Rok"],"suffixes":[]}],"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","bibtex":"@inproceedings{Kim2014Robotic,\n\tauthor = {Jo, Joonhee and\n\tKim, Sung-Kyun and\n\tOh, Yonghwan and\n\tOh, Sang-Rok},\n\ttitle = {Robotic handwriting: Multi-contact manipulation based on Reactional Internal Contact Hypothesis},\n\tbooktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},\n\tyear = {2014},\n\tpages = {877--884},\n\tdoi = {10.1109/IROS.2014.6942663},\n\tabstract = {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.},\n\tkeywords = {robot hand, hand writing, multi-contact},\n\turl_pdf = {files/2nd_author/Kim2014Robotic.pdf},\n\turl_video = {https://youtu.be/K-uz-XPupkI},\n\turl_link = {https://ieeexplore.ieee.org/document/6942663},\n}\n\n","author_short":["Jo, J.","Kim, S.","Oh, Y.","Oh, S."],"key":"Kim2014Robotic","id":"Kim2014Robotic","bibbaseid":"jo-kim-oh-oh-robotichandwritingmulticontactmanipulationbasedonreactionalinternalcontacthypothesis-2014","role":"author","urls":{" pdf":"https://raw.githubusercontent.com/Rian-Jo/home/master/_posts/publication/files/2nd_author/Kim2014Robotic.pdf"," video":"https://youtu.be/K-uz-XPupkI"," link":"https://ieeexplore.ieee.org/document/6942663"},"keyword":["robot hand","hand writing","multi-contact"],"metadata":{"authorlinks":{}}},"bibtype":"inproceedings","biburl":"https://raw.githubusercontent.com/Rian-Jo/home/master/_posts/publication/bib_conference.bib","dataSources":["qmrgSiRkqfDZFkSLC"],"keywords":["robot hand","hand writing","multi-contact"],"search_terms":["robotic","handwriting","multi","contact","manipulation","based","reactional","internal","contact","hypothesis","jo","kim","oh","oh"],"title":"Robotic handwriting: Multi-contact manipulation based on Reactional Internal Contact Hypothesis","year":2014}