The Grasping Problem: Toward Task-Level Programming for an Articulated Hand

Please use this identifier to cite or link to this item: http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/6817

Full metadata record

DC Field	Value	Language
dc.creator	Pollard, Nancy S.	-
dc.date	2004-10-20T19:58:03Z	-
dc.date	2004-10-20T19:58:03Z	-
dc.date	1990-05-01	-
dc.date.accessioned	2013-10-09T02:47:03Z	-
dc.date.available	2013-10-09T02:47:03Z	-
dc.date.issued	2013-10-09	-
dc.identifier	AITR-1214	-
dc.identifier	http://hdl.handle.net/1721.1/6817	-
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721	-
dc.description	This report presents a system for generating a stable, feasible, and reachable grasp of a polyhedral object. A set of contact points on the object is found that can result in a stable grasp; a feasible grasp is found in which the robot contacts the object at those contact points; and a path is constructed from the initial configuration of the robot to the stable, feasible final grasp configuration. The algorithm described in the report is designed for the Salisbury hand mounted on a Puma 560 arm, but a similar approach could be used to develop grasping systems for other robots.	-
dc.format	93 p.	-
dc.format	6334760 bytes	-
dc.format	4424738 bytes	-
dc.format	application/postscript	-
dc.format	application/pdf	-
dc.language	en_US	-
dc.relation	AITR-1214	-
dc.subject	robotics	-
dc.subject	robot hands	-
dc.subject	grasp planning	-
dc.subject	stability	-
dc.subject	sfeasibility	-
dc.subject	motion planning	-
dc.title	The Grasping Problem: Toward Task-Level Programming for an Articulated Hand	-
Appears in Collections:	MIT Items

Files in This Item:

There are no files associated with this item.

DSpace JSPUI