Analysis and Implementation of Robust Grasping Behaviors

Please use this identifier to cite or link to this item: http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/7033

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DC Field	Value	Language
dc.creator	Chammas, Camille Z.	-
dc.date	2004-10-20T20:23:01Z	-
dc.date	2004-10-20T20:23:01Z	-
dc.date	1990-05-01	-
dc.date.accessioned	2013-10-09T02:48:03Z	-
dc.date.available	2013-10-09T02:48:03Z	-
dc.date.issued	2013-10-09	-
dc.identifier	AITR-1237	-
dc.identifier	http://hdl.handle.net/1721.1/7033	-
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721	-
dc.description	This thesis addresses the problem of developing automatic grasping capabilities for robotic hands. Using a 2-jointed and a 4-jointed nmodel of the hand, we establish the geometric conditions necessary for achieving form closure grasps of cylindrical objects. We then define and show how to construct the grasping pre-image for quasi-static (friction dominated) and zero-G (inertia dominated) motions for sensorless and sensor-driven grasps with and without arm motions. While the approach does not rely on detailed modeling, it is computationally inexpensive, reliable, and easy to implement. Example behaviors were successfully implemented on the Salisbury hand and on a planar 2-fingered, 4 degree-of-freedom hand.	-
dc.format	4378002 bytes	-
dc.format	3412668 bytes	-
dc.format	application/postscript	-
dc.format	application/pdf	-
dc.language	en_US	-
dc.relation	AITR-1237	-
dc.title	Analysis and Implementation of Robust Grasping Behaviors	-
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