Simplified Grasping and Manipulation with Dextrous Robot Hands

dc.creator	Fearing, Ronald S.
dc.date	2004-10-01T20:17:20Z
dc.date	2004-10-01T20:17:20Z
dc.date	1984-11-01
dc.date.accessioned	2013-10-09T02:40:24Z
dc.date.available	2013-10-09T02:40:24Z
dc.date.issued	2013-10-09
dc.identifier	AIM-809
dc.identifier	http://hdl.handle.net/1721.1/5622
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	A method is presented for stably grasping 2 dimensional polygonal objects with a dextrous hand when object models are not avaiable. Basic constraints on object vertex angles are found for feasible grasping with two fingers. Local tactile information can be used to determine the finger motion that will reach feasible grasping locations. With an appropriate choice of finger stiffness, a hand can automatically grasp these objects with two fingers. The bounded slip of a part in a hand is shown to be valuable for adapting the fingers and object to a stable situation. Examples are given to show the ability of this grasping method to accomodate disturbance forces and to perform simple part reorientations and regrasping operations.
dc.format	17 p.
dc.format	1148196 bytes
dc.format	894209 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-809
dc.subject	automatic grasping
dc.subject	force control
dc.subject	stable grasping
dc.subject	robot hands
dc.subject	regrasping objects
dc.subject	re-orienting objects
dc.subject	dextrous hands
dc.title	Simplified Grasping and Manipulation with Dextrous Robot Hands

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