Planning dextrous hand precision grasps from range data, using preshaping and finger trajectories:
Abstract: "Inspired by human grasping behavior, use of hand preshapes has for some time been recognised as a useful way of reducing the complexity of planning dextrous hand grasps. It is common for preshapes to be chosen and fitted to the object using coarse object characteristics. In this pape...
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Edinburgh
1995
|
| Schriftenreihe: | University <Edinburgh> / Department of Artificial Intelligence: DAI research paper
769 |
| Schlagworte: | |
| Zusammenfassung: | Abstract: "Inspired by human grasping behavior, use of hand preshapes has for some time been recognised as a useful way of reducing the complexity of planning dextrous hand grasps. It is common for preshapes to be chosen and fitted to the object using coarse object characteristics. In this paper we use range data to provide the more detailed knowledge of surface geometry required when planning precision grasps. We define sets of preshapes, with associated modes of fingertip closure, and give criteria for the choice and positioning of the preshapes, based on intersecting fingertip trajectories with the graspable surfaces of the object. Grasps are planned in simulation using real range data and an anthropomorphic hand model. Our results show that complex objects can be grasped using relatively simple, fast algorithms when the hand movements are constrained in this way." |
| Beschreibung: | [8] S. graph. Darst. |
Internformat
MARC
| LEADER | 00000nam a2200000 cb4500 | ||
|---|---|---|---|
| 001 | BV011045511 | ||
| 003 | DE-604 | ||
| 005 | 00000000000000.0 | ||
| 007 | t | ||
| 008 | 961108s1995 d||| |||| 00||| engod | ||
| 035 | |a (OCoLC)35171305 | ||
| 035 | |a (DE-599)BVBBV011045511 | ||
| 040 | |a DE-604 |b ger |e rakddb | ||
| 041 | 0 | |a eng | |
| 049 | |a DE-91G | ||
| 100 | 1 | |a Wren, David |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Planning dextrous hand precision grasps from range data, using preshaping and finger trajectories |c Wren, D. ; Fisher, R. B. |
| 264 | 1 | |a Edinburgh |c 1995 | |
| 300 | |a [8] S. |b graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a University <Edinburgh> / Department of Artificial Intelligence: DAI research paper |v 769 | |
| 520 | 3 | |a Abstract: "Inspired by human grasping behavior, use of hand preshapes has for some time been recognised as a useful way of reducing the complexity of planning dextrous hand grasps. It is common for preshapes to be chosen and fitted to the object using coarse object characteristics. In this paper we use range data to provide the more detailed knowledge of surface geometry required when planning precision grasps. We define sets of preshapes, with associated modes of fingertip closure, and give criteria for the choice and positioning of the preshapes, based on intersecting fingertip trajectories with the graspable surfaces of the object. Grasps are planned in simulation using real range data and an anthropomorphic hand model. Our results show that complex objects can be grasped using relatively simple, fast algorithms when the hand movements are constrained in this way." | |
| 650 | 7 | |a Bionics and artificial intelligence |2 sigle | |
| 650 | 7 | |a Robotics and its application |2 sigle | |
| 650 | 4 | |a Hand |x Simulation methods | |
| 650 | 4 | |a Movement sequences | |
| 700 | 1 | |a Fisher, Robert B. |e Verfasser |4 aut | |
| 810 | 2 | |a Department of Artificial Intelligence: DAI research paper |t University <Edinburgh> |v 769 |w (DE-604)BV010450646 |9 769 | |
| 999 | |a oai:aleph.bib-bvb.de:BVB01-007396572 | ||
Datensatz im Suchindex
| _version_ | 1804125535142412288 |
|---|---|
| any_adam_object | |
| author | Wren, David Fisher, Robert B. |
| author_facet | Wren, David Fisher, Robert B. |
| author_role | aut aut |
| author_sort | Wren, David |
| author_variant | d w dw r b f rb rbf |
| building | Verbundindex |
| bvnumber | BV011045511 |
| ctrlnum | (OCoLC)35171305 (DE-599)BVBBV011045511 |
| format | Book |
| fullrecord | <?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>02080nam a2200337 cb4500</leader><controlfield tag="001">BV011045511</controlfield><controlfield tag="003">DE-604</controlfield><controlfield tag="005">00000000000000.0</controlfield><controlfield tag="007">t</controlfield><controlfield tag="008">961108s1995 d||| |||| 00||| engod</controlfield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(OCoLC)35171305</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)BVBBV011045511</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-604</subfield><subfield code="b">ger</subfield><subfield code="e">rakddb</subfield></datafield><datafield tag="041" ind1="0" ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="049" ind1=" " ind2=" "><subfield code="a">DE-91G</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Wren, David</subfield><subfield code="e">Verfasser</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Planning dextrous hand precision grasps from range data, using preshaping and finger trajectories</subfield><subfield code="c">Wren, D. ; Fisher, R. B.</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="a">Edinburgh</subfield><subfield code="c">1995</subfield></datafield><datafield tag="300" ind1=" " ind2=" "><subfield code="a">[8] S.</subfield><subfield code="b">graph. Darst.</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="490" ind1="1" ind2=" "><subfield code="a">University <Edinburgh> / Department of Artificial Intelligence: DAI research paper</subfield><subfield code="v">769</subfield></datafield><datafield tag="520" ind1="3" ind2=" "><subfield code="a">Abstract: "Inspired by human grasping behavior, use of hand preshapes has for some time been recognised as a useful way of reducing the complexity of planning dextrous hand grasps. It is common for preshapes to be chosen and fitted to the object using coarse object characteristics. In this paper we use range data to provide the more detailed knowledge of surface geometry required when planning precision grasps. We define sets of preshapes, with associated modes of fingertip closure, and give criteria for the choice and positioning of the preshapes, based on intersecting fingertip trajectories with the graspable surfaces of the object. Grasps are planned in simulation using real range data and an anthropomorphic hand model. Our results show that complex objects can be grasped using relatively simple, fast algorithms when the hand movements are constrained in this way."</subfield></datafield><datafield tag="650" ind1=" " ind2="7"><subfield code="a">Bionics and artificial intelligence</subfield><subfield code="2">sigle</subfield></datafield><datafield tag="650" ind1=" " ind2="7"><subfield code="a">Robotics and its application</subfield><subfield code="2">sigle</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Hand</subfield><subfield code="x">Simulation methods</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Movement sequences</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Fisher, Robert B.</subfield><subfield code="e">Verfasser</subfield><subfield code="4">aut</subfield></datafield><datafield tag="810" ind1="2" ind2=" "><subfield code="a">Department of Artificial Intelligence: DAI research paper</subfield><subfield code="t">University <Edinburgh></subfield><subfield code="v">769</subfield><subfield code="w">(DE-604)BV010450646</subfield><subfield code="9">769</subfield></datafield><datafield tag="999" ind1=" " ind2=" "><subfield code="a">oai:aleph.bib-bvb.de:BVB01-007396572</subfield></datafield></record></collection> |
| id | DE-604.BV011045511 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T18:03:06Z |
| institution | BVB |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-007396572 |
| oclc_num | 35171305 |
| open_access_boolean | |
| owner | DE-91G DE-BY-TUM |
| owner_facet | DE-91G DE-BY-TUM |
| physical | [8] S. graph. Darst. |
| publishDate | 1995 |
| publishDateSearch | 1995 |
| publishDateSort | 1995 |
| record_format | marc |
| series2 | University <Edinburgh> / Department of Artificial Intelligence: DAI research paper |
| spelling | Wren, David Verfasser aut Planning dextrous hand precision grasps from range data, using preshaping and finger trajectories Wren, D. ; Fisher, R. B. Edinburgh 1995 [8] S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier University <Edinburgh> / Department of Artificial Intelligence: DAI research paper 769 Abstract: "Inspired by human grasping behavior, use of hand preshapes has for some time been recognised as a useful way of reducing the complexity of planning dextrous hand grasps. It is common for preshapes to be chosen and fitted to the object using coarse object characteristics. In this paper we use range data to provide the more detailed knowledge of surface geometry required when planning precision grasps. We define sets of preshapes, with associated modes of fingertip closure, and give criteria for the choice and positioning of the preshapes, based on intersecting fingertip trajectories with the graspable surfaces of the object. Grasps are planned in simulation using real range data and an anthropomorphic hand model. Our results show that complex objects can be grasped using relatively simple, fast algorithms when the hand movements are constrained in this way." Bionics and artificial intelligence sigle Robotics and its application sigle Hand Simulation methods Movement sequences Fisher, Robert B. Verfasser aut Department of Artificial Intelligence: DAI research paper University <Edinburgh> 769 (DE-604)BV010450646 769 |
| spellingShingle | Wren, David Fisher, Robert B. Planning dextrous hand precision grasps from range data, using preshaping and finger trajectories Bionics and artificial intelligence sigle Robotics and its application sigle Hand Simulation methods Movement sequences |
| title | Planning dextrous hand precision grasps from range data, using preshaping and finger trajectories |
| title_auth | Planning dextrous hand precision grasps from range data, using preshaping and finger trajectories |
| title_exact_search | Planning dextrous hand precision grasps from range data, using preshaping and finger trajectories |
| title_full | Planning dextrous hand precision grasps from range data, using preshaping and finger trajectories Wren, D. ; Fisher, R. B. |
| title_fullStr | Planning dextrous hand precision grasps from range data, using preshaping and finger trajectories Wren, D. ; Fisher, R. B. |
| title_full_unstemmed | Planning dextrous hand precision grasps from range data, using preshaping and finger trajectories Wren, D. ; Fisher, R. B. |
| title_short | Planning dextrous hand precision grasps from range data, using preshaping and finger trajectories |
| title_sort | planning dextrous hand precision grasps from range data using preshaping and finger trajectories |
| topic | Bionics and artificial intelligence sigle Robotics and its application sigle Hand Simulation methods Movement sequences |
| topic_facet | Bionics and artificial intelligence Robotics and its application Hand Simulation methods Movement sequences |
| volume_link | (DE-604)BV010450646 |
| work_keys_str_mv | AT wrendavid planningdextroushandprecisiongraspsfromrangedatausingpreshapingandfingertrajectories AT fisherrobertb planningdextroushandprecisiongraspsfromrangedatausingpreshapingandfingertrajectories |