Analysis and implementation of robust grasping behaviors:
Abstract: "This thesis addresses the problem of developing automatic grasping capabilities for robotic hands. Using a 2-jointed and a 4-jointed model of the hand, we establish the geometric conditions necessary for achieving form closure grasps of cylindrical objects. We then define and show ho...
Gespeichert in:
| 1. Verfasser: | |
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| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Cambridge, Mass.
MIT Artificial Intelligence Laboratory
1990
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| Schlagworte: | |
| Zusammenfassung: | Abstract: "This thesis addresses the problem of developing automatic grasping capabilities for robotic hands. Using a 2-jointed and a 4-jointed model of the hand, we establish the geometric conditions necessary for achieving form closure grasps of cylindrical objects. We then define and show how to construct the grasping pre-image for quasi- static (friction dominated) and zero-G (inertia dominated) motions for sensorless and sensor-driven grasps with and without arm motions. The grasping pre-image is the area within which the object to be grasped must lie in order to be grasped successfully. The size and shape of this area depends upon the hand and object geometry and can be increased by employing sensor triggered actions (behaviors) While the approach does not rely on detailed modeling, it is computationally inexpensive, reliable, and easy to implement. Example behaviors were successfully implemented on the Salisbury hand and on a planar 2-fingered, 4 degree-of-freedom hand. |
| Beschreibung: | Zugl.: Cambridge, Mass., Mass. Inst. of Technol., Diss. |
| Beschreibung: | 97 S. graph. Darst. |
Internformat
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| 100 | 1 | |a Chammas, Camille Z. |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Analysis and implementation of robust grasping behaviors |
| 246 | 1 | 3 | |a AI TR 1237 |
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| 500 | |a Zugl.: Cambridge, Mass., Mass. Inst. of Technol., Diss. | ||
| 520 | 3 | |a Abstract: "This thesis addresses the problem of developing automatic grasping capabilities for robotic hands. Using a 2-jointed and a 4-jointed model of the hand, we establish the geometric conditions necessary for achieving form closure grasps of cylindrical objects. We then define and show how to construct the grasping pre-image for quasi- static (friction dominated) and zero-G (inertia dominated) motions for sensorless and sensor-driven grasps with and without arm motions. The grasping pre-image is the area within which the object to be grasped must lie in order to be grasped successfully. The size and shape of this area depends upon the hand and object geometry and can be increased by employing sensor triggered actions (behaviors) | |
| 520 | 3 | |a While the approach does not rely on detailed modeling, it is computationally inexpensive, reliable, and easy to implement. Example behaviors were successfully implemented on the Salisbury hand and on a planar 2-fingered, 4 degree-of-freedom hand. | |
| 650 | 4 | |a Manipulators (Mechanism) | |
| 650 | 4 | |a Robotics | |
| 655 | 7 | |0 (DE-588)4113937-9 |a Hochschulschrift |2 gnd-content | |
| 999 | |a oai:aleph.bib-bvb.de:BVB01-002737908 | ||
Datensatz im Suchindex
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| author | Chammas, Camille Z. |
| author_facet | Chammas, Camille Z. |
| author_role | aut |
| author_sort | Chammas, Camille Z. |
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| building | Verbundindex |
| bvnumber | BV004413118 |
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| indexdate | 2024-07-09T16:12:42Z |
| institution | BVB |
| language | English |
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| physical | 97 S. graph. Darst. |
| publishDate | 1990 |
| publishDateSearch | 1990 |
| publishDateSort | 1990 |
| publisher | MIT Artificial Intelligence Laboratory |
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| spelling | Chammas, Camille Z. Verfasser aut Analysis and implementation of robust grasping behaviors AI TR 1237 Cambridge, Mass. MIT Artificial Intelligence Laboratory 1990 97 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Zugl.: Cambridge, Mass., Mass. Inst. of Technol., Diss. Abstract: "This thesis addresses the problem of developing automatic grasping capabilities for robotic hands. Using a 2-jointed and a 4-jointed model of the hand, we establish the geometric conditions necessary for achieving form closure grasps of cylindrical objects. We then define and show how to construct the grasping pre-image for quasi- static (friction dominated) and zero-G (inertia dominated) motions for sensorless and sensor-driven grasps with and without arm motions. The grasping pre-image is the area within which the object to be grasped must lie in order to be grasped successfully. The size and shape of this area depends upon the hand and object geometry and can be increased by employing sensor triggered actions (behaviors) While the approach does not rely on detailed modeling, it is computationally inexpensive, reliable, and easy to implement. Example behaviors were successfully implemented on the Salisbury hand and on a planar 2-fingered, 4 degree-of-freedom hand. Manipulators (Mechanism) Robotics (DE-588)4113937-9 Hochschulschrift gnd-content |
| spellingShingle | Chammas, Camille Z. Analysis and implementation of robust grasping behaviors Manipulators (Mechanism) Robotics |
| subject_GND | (DE-588)4113937-9 |
| title | Analysis and implementation of robust grasping behaviors |
| title_alt | AI TR 1237 |
| title_auth | Analysis and implementation of robust grasping behaviors |
| title_exact_search | Analysis and implementation of robust grasping behaviors |
| title_full | Analysis and implementation of robust grasping behaviors |
| title_fullStr | Analysis and implementation of robust grasping behaviors |
| title_full_unstemmed | Analysis and implementation of robust grasping behaviors |
| title_short | Analysis and implementation of robust grasping behaviors |
| title_sort | analysis and implementation of robust grasping behaviors |
| topic | Manipulators (Mechanism) Robotics |
| topic_facet | Manipulators (Mechanism) Robotics Hochschulschrift |
| work_keys_str_mv | AT chammascamillez analysisandimplementationofrobustgraspingbehaviors AT chammascamillez aitr1237 |