### Abstract

In this paper, we are solving two inverse design problems. We first determine the desired Cartesian stiffness matrix for each contact in a multi-contact grasp by solving an optimization problem. Secondly given the desired stiffness matrix, K, for each contact, we design a material to behave accordingly. The orientation for the material links, and the appropriate stiffness values for each link must be determined. We solve for the link stiffness values and for the link angles by setting up a robotics problem based on a similarity transformation using the well-known Jacobian. The joint angles in the Jacobian determine the link orientation, and the stiffness values determine the link parameters. We are also able to solve for redundant elements necessary to develop symmetric materials.

Original language | English (US) |
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Title of host publication | Robotics, Automation, Control and Manufacturing: Trends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002 |

Pages | 237-242 |

Number of pages | 6 |

Volume | 14 |

State | Published - 2002 |

Event | 9th Int. Symp. on Robotics and Applications, ISORA 2002, 8th Int. Symp. on Manufacturing and Applications, ISOMA 2002 and 4th Int. Symposium on Intelligent Automation and Control, ISIAC 2002, Held within the World Automation Congress, WAC 2002 - Orlando, FL, United States Duration: Jun 9 2002 → Jun 13 2002 |

### Other

Other | 9th Int. Symp. on Robotics and Applications, ISORA 2002, 8th Int. Symp. on Manufacturing and Applications, ISOMA 2002 and 4th Int. Symposium on Intelligent Automation and Control, ISIAC 2002, Held within the World Automation Congress, WAC 2002 |
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Country | United States |

City | Orlando, FL |

Period | 6/9/02 → 6/13/02 |

### Fingerprint

### Keywords

- Compliant materials
- Grasping
- Jacobian
- Stiffness matrices

### ASJC Scopus subject areas

- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Control and Systems Engineering

### Cite this

*Robotics, Automation, Control and Manufacturing: Trends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002*(Vol. 14, pp. 237-242)

**Novel, compliant, synergistic interactions of multiple contacts for grasping.** / Nahar, Dhiraj; Sugar, Thomas; Fussell, Paul.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*Robotics, Automation, Control and Manufacturing: Trends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002.*vol. 14, pp. 237-242, 9th Int. Symp. on Robotics and Applications, ISORA 2002, 8th Int. Symp. on Manufacturing and Applications, ISOMA 2002 and 4th Int. Symposium on Intelligent Automation and Control, ISIAC 2002, Held within the World Automation Congress, WAC 2002, Orlando, FL, United States, 6/9/02.

}

TY - GEN

T1 - Novel, compliant, synergistic interactions of multiple contacts for grasping

AU - Nahar, Dhiraj

AU - Sugar, Thomas

AU - Fussell, Paul

PY - 2002

Y1 - 2002

N2 - In this paper, we are solving two inverse design problems. We first determine the desired Cartesian stiffness matrix for each contact in a multi-contact grasp by solving an optimization problem. Secondly given the desired stiffness matrix, K, for each contact, we design a material to behave accordingly. The orientation for the material links, and the appropriate stiffness values for each link must be determined. We solve for the link stiffness values and for the link angles by setting up a robotics problem based on a similarity transformation using the well-known Jacobian. The joint angles in the Jacobian determine the link orientation, and the stiffness values determine the link parameters. We are also able to solve for redundant elements necessary to develop symmetric materials.

AB - In this paper, we are solving two inverse design problems. We first determine the desired Cartesian stiffness matrix for each contact in a multi-contact grasp by solving an optimization problem. Secondly given the desired stiffness matrix, K, for each contact, we design a material to behave accordingly. The orientation for the material links, and the appropriate stiffness values for each link must be determined. We solve for the link stiffness values and for the link angles by setting up a robotics problem based on a similarity transformation using the well-known Jacobian. The joint angles in the Jacobian determine the link orientation, and the stiffness values determine the link parameters. We are also able to solve for redundant elements necessary to develop symmetric materials.

KW - Compliant materials

KW - Grasping

KW - Jacobian

KW - Stiffness matrices

UR - http://www.scopus.com/inward/record.url?scp=78650228936&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=78650228936&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:78650228936

SN - 1889335193

SN - 9781889335193

VL - 14

SP - 237

EP - 242

BT - Robotics, Automation, Control and Manufacturing: Trends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002

ER -