Grasp planning of multi-fingered robot hands

被引：0
|
作者：
Liu, YH [1 ]
机构：
[1] Chinese Univ Hong Kong, Dept Automat & Comp Aided Engn, Sha Tin 100083, Peoples R China
来源：
PROCEEDINGS OF THE 2004 INTERNATIONAL CONFERENCE ON INTELLIGENT MECHATRONICS AND AUTOMATION | 2004年
关键词：
form-closure grasp; grasp synthesis; multifingered robotic hand; ray-shooting technique;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents our latest research results in stability analysis and synthesis of grasping of multi-fingered robot hands. A new approach, based on the ray-shooting technique, is developed for formulation of stability analysis and synthesis in both continuous and discrete spaces. This novel formulation leads to several simple and efficient algorithms for checking and planning of form-closure grasps in real-time. The algorithms have been implemented and simulation results will be also presented.
引用
收藏
页码：350 / 355
页数：6
相关论文
共 50 条
  • [21] Grasp planning for multi-fingered hand based on task compatibility
    Southeast University, Nanjing 210096, China
    Zhongguo Jixie Gongcheng, 2006, 21 (2229-2232):
  • [22] Grasp prediction and evaluation of multi-fingered dexterous hands using deep learning
    Zhao, Zengzhi
    Shang, Weiwei
    He, Haoyuan
    Li, Zhijun
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2020, 129
  • [23] Multi-Fingered Active Grasp Learning
    Lu, Qingkai
    Van der Merwe, Mark
    Hermans, Tucker
    2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2020, : 8415 - 8422
  • [24] Analysis and Grasp Strategy Modeling for Underactuated Multi-fingered Robot Hand
    Yao, Shuangji
    Zhan, Qiang
    Ceccarelli, Marco
    Carbone, Giuseppe
    Lu, Zhen
    2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS, 2009, : 2817 - +
  • [25] Task-based compliance planning for multi-fingered hands
    Kim, BH
    Yi, BJ
    Oh, SR
    Suh, IH
    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2001, : 2614 - 2621
  • [26] Optimization Model for Planning Precision Grasps with Multi-Fingered Hands
    Fan, Yongxiang
    Zhu, Xinghao
    Tomizuka, Masayoshi
    2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2019, : 1548 - 1554
  • [27] Grasp planning analysis and strategy modeling for underactuated multi-fingered robot hand using in fruits grasping
    Li Shanjun
    Shuangji Yao
    Zhang Yanlin
    Meng Liang
    Lu Zhen
    AFRICAN JOURNAL OF AGRICULTURAL RESEARCH, 2011, 6 (09): : 2086 - 2098
  • [28] SYNTHESIS OF MULTI-FINGERED ROBOTIC HANDS
    Perez-Gracia, Alba
    PROCEEDINGS OF THE 1ST PAN-AMERICAN CONGRESS ON COMPUTATIONAL MECHANICS AND XI ARGENTINE CONGRESS ON COMPUTATIONAL MECHANICS, 2015, : 292 - 303
  • [29] Intelligent control of multi-fingered hands
    Arimoto, S
    ANNUAL REVIEWS IN CONTROL, 2004, 28 (01) : 75 - 85
  • [30] Grasping and Control of Multi-Fingered Hands
    Villani, Luigi
    Ficuciello, Fanny
    Lippiello, Vincenzo
    Palli, Gianluca
    Ruggiero, Fabio
    Siciliano, Bruno
    ADVANCED BIMANUAL MANIPULATION: RESULTS FROM THE DEXMART PROJECT, 2012, 80 : 219 - +
12345