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

Title: en_US The Grasping Problem: Toward Task-Level Programming for an Articulated Hand
Creator: en_US Pollard, Nancy S.
Date: 2004-10-20T19:58:03Z
Date Available: 2004-10-20T19:58:03Z
Date Issued: en_US 1990-05-01
Identifier: en_US AITR-1214
uri: http://hdl.handle.net/1721.1/6817
Abstract: en_US 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.
Extent: en_US 93 p.; 6334760 bytes; 4424738 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1214
Subject: en_US robotics; en_US robot hands; en_US grasp planning; en_US stability; en_US sfeasibility; en_US motion planning