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» Dynamic Stable Manipulation via Soft-fingered Hand
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ICRA
2010
IEEE
100views Robotics» more  ICRA 2010»
13 years 4 months ago
Weighted barrier functions for computation of force distributions with friction cone constraints
— We present a novel Weighted Barrier Function (WBF) method of efficiently computing optimal grasping force distributions for multifingered hands. Second-order conic friction c...
Per Henrik Borgstrom, Maxim A. Batalin, Gaurav S. ...
FGR
2002
IEEE
228views Biometrics» more  FGR 2002»
13 years 11 months ago
Real-Time Tracking of Multiple Fingertips and Gesture Recognition for Augmented Desk Interface Systems
In this paper, we propose a fast and robust method for tracking a user’s hand and multiple fingertips; we then demonstrate gesture recognition based on measured fingertip traj...
Kenji Oka, Yoichi Sato, Hideki Koike