Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes

Title: en_US Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes
Creator: en_US Pollard, Nancy S.
Date: 2004-10-20T20:24:03Z
Date Available: 2004-10-20T20:24:03Z
Date Issued: en_US 1994-01-01
Identifier: en_US AITR-1464
uri: http://hdl.handle.net/1721.1/7055
Abstract: en_US 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.
Extent: 20757004 bytes; 14552639 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1464