Theoretical and Experimental Investigation of Stratified Robotic Finger Gaiting
نویسندگان
چکیده
This paper presents the application of stratified motion planning to the robotic manipulation problem. Although the manipulation problem is a subclass of applications for stratified motion planning, the method present is general in that it is formulation in a manner independent of the object surface geometry or the kinematics of the “fingers” of the robot. The theoretical development of the method is presented as well as experimental results.
منابع مشابه
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تاریخ انتشار 2001