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
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