Towards task-directed coordinated manipulation
نویسندگان
چکیده
In this paper we analyze the feasibility of the nger tracking paradigm for multi-nger manipulation introduced in 22] and we relate it to task-directed programming issues. By using the geometry of singularities that arise in solving the instantaneous motion problem we are able to characterize regions of feasibility associated with an initial grasp and quantify how much reorientation is possible starting from this grasp. This results in a provably correct global strategy for reorientation .
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تاریخ انتشار 1993