Adaptive Grasping by Multifingered Hands.
نویسندگان
چکیده
منابع مشابه
Task oriented optimal grasping by multifingered robot hands
The problem of optimal grasping of an object by a multifingered robot hand is discussed. Using screw theory and elementary differential geometry, the concept of a grasp is axiomated and its stability characterized. Three quality measures for evaluating a grasp are then proposed. The last quality measure is task oriented and needs the development of a procedure for modeling tasks as ellipsoids i...
متن کاملStudies on Grasping and Manipulation by Robotic Multifingered Hands and Arm-hand Systems
The major purpose of this thesis is to discuss the various problems of the gra.sping and manipulation by robotic multifingered hands and arm-hand systems. This thesis consists of two parts. In the first part of Chapters 2 through 4, dliscussions are made on gra.sping and manipulation by multifingered hands. In the second part of Chapters 5 and 6, cooperative manipulations with grasping by macro...
متن کاملClassification of grasps by multifingered robot hands
This research characterizes grasping by multifingered robot hands through an investigation of the space of contact forces between fingers and the grasped object. By decomposing the space of contact forces into four subspaces, we develop a method to determine the dimensions of the subspaces with respect to the connectivity of the object. The relationship we obtain reveals the diflkrences between...
متن کاملRaptors-inroads to multifingered grasping
In this work, we consider the grasping and manipulation strategies of raptors, focusing on the particularly successful case of the osprey. The osprey makes superb use of its two four-digit feet, each of which has ve degrees of freedom. Its manipulation strategies exploit not only quasistatic but also dynamic grasping, particularly in shing, for which the bird is highly renowned. In this paper, ...
متن کاملMultifingered Robotic Hands: Contact Experiments using Tactile Sensors
Capacitive tactile sensors are constructed and installed to the ngers of the HKUST hands for measurement of position, force and direction of principle curvature of contact point. The hardware and software for signal processing are designed such that the contact information is sent to the motion control computer in real time. Experiments in rolling and sliding contact motions are then performed ...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1993
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.11.111