Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes

dc.creator	Pollard, Nancy S.
dc.date	2004-10-20T20:24:03Z
dc.date	2004-10-20T20:24:03Z
dc.date	1994-01-01
dc.date.accessioned	2013-10-09T02:48:07Z
dc.date.available	2013-10-09T02:48:07Z
dc.date.issued	2013-10-09
dc.identifier	AITR-1464
dc.identifier	http://hdl.handle.net/1721.1/7055
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	This report addresses the problem of acquiring objects using articulated robotic hands. Standard grasps are used to make the problem tractable, and a technique is developed for generalizing these standard grasps to increase their flexibility to variations in the problem geometry. A generalized grasp description is applied to a new problem situation using a parallel search through hand configuration space, and the result of this operation is a global overview of the space of good solutions. The techniques presented in this report have been implemented, and the results are verified using the Salisbury three-finger robotic hand.
dc.format	20757004 bytes
dc.format	14552639 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AITR-1464
dc.title	Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes

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