The Grasping Problem: Toward Task-Level Programming for an Articulated Hand

dc.creator	Pollard, Nancy S.
dc.date	2004-10-20T19:58:03Z
dc.date	2004-10-20T19:58:03Z
dc.date	1990-05-01
dc.date.accessioned	2013-10-09T02:47:03Z
dc.date.available	2013-10-09T02:47:03Z
dc.date.issued	2013-10-09
dc.identifier	AITR-1214
dc.identifier	http://hdl.handle.net/1721.1/6817
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	This report presents a system for generating a stable, feasible, and reachable grasp of a polyhedral object. A set of contact points on the object is found that can result in a stable grasp; a feasible grasp is found in which the robot contacts the object at those contact points; and a path is constructed from the initial configuration of the robot to the stable, feasible final grasp configuration. The algorithm described in the report is designed for the Salisbury hand mounted on a Puma 560 arm, but a similar approach could be used to develop grasping systems for other robots.
dc.format	93 p.
dc.format	6334760 bytes
dc.format	4424738 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AITR-1214
dc.subject	robotics
dc.subject	robot hands
dc.subject	grasp planning
dc.subject	stability
dc.subject	sfeasibility
dc.subject	motion planning
dc.title	The Grasping Problem: Toward Task-Level Programming for an Articulated Hand

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