Analysis and Implementation of Robust Grasping Behaviors

Title: en_US Analysis and Implementation of Robust Grasping Behaviors
Creator: en_US Chammas, Camille Z.
Date: 2004-10-20T20:23:01Z
Date Available: 2004-10-20T20:23:01Z
Date Issued: en_US 1990-05-01
Identifier: en_US AITR-1237
uri: http://hdl.handle.net/1721.1/7033
Abstract: en_US 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.
Extent: 4378002 bytes; 3412668 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1237