@article{oai:kanazawa-u.repo.nii.ac.jp:00008969,
 author = {Watanabe, Tetsuyoh and Yoshikawa, Tsuneo},
 issue = {2001},
 journal = {Proceedings of the International Symposium on Robotics (ISR)},
 month = {Jan},
 note = {In this paper, we propose a dynamic control method of multi ngered hands for pivoting an object in contact with the environment. This pivoting operation is often observed when a human moves a large or heavy object such as furniture on the oor. Di erent from the conventional manipulation of the object by only ngers, the characteristics of the pivoting operation is that we can use the reaction force from the environment. By using this reaction force, we can expect the magnitude of the forces applied to the object by the ngers is smaller than the conventional manipulation of the object by only ngers. In this paper, taking this characteristics of the reaction force into consideration, we propose a dynamic control method for pivoting. To verify our approach, simulation results are also presented.},
 pages = {1260--1265},
 title = {Dynamic Control of Multifingered Hands for Pivoting Operation},
 year = {2001}
}