Hierarchical Fingertip Space: A Unified Framework for Grasp Planning and In-Hand Grasp Adaptation
نویسندگان
چکیده
منابع مشابه
Grasp Planning for a Humanoid Hand
We focus on grasp planning for a humanoid multi-fingered hand attached at the tip of a humanoid robot’s arm. The hand has potential possibility to grasp various objects under several situations. Since the multi-fingered hand can use several grasp types such as fingertip grasp, and envelope grasp with taking the advantage of degrees of freedom. We develop grasp planner which selects a feasible g...
متن کاملStereotypical fingertip trajectories during grasp.
The kinematics of movement of all five digits was analyzed during reach-and-grasp tasks for a variety of objects. Ten healthy subjects performed 20 trials involving the grasp of five objects of distinct size and shape. Joint angles were recorded, and digit trajectories were computed using forward kinematics. For a given subject, fingertip trajectories were consistent across trials. The differen...
متن کاملGrasp Planning for a Multifingered Hand with a Humanoid Robot
This paper presents grasp planning for a multifingered hand with a humanoid robot. Our planner selects different ways of grasping even for the same object according to object position/orientation. If the planner cannot find a feasible grasp with arm/hand kinematics, it switches to full body motion planning. These functions are necessary for realizing the robust grasp planning. Our planner defin...
متن کاملGrasp Planning for Precision Manipulation by Multifingered Robotic Hand
This paper describes a model-based grasp planner for an articulated multi-fingered robotic hand. The planner searches for an initial grasp from which a required continuous motion of an object is achieved using fingertips alone while keeping rolling contact with the object. An adaptive search strategy has been developed and implemented : the error analysis of the failed grasp is made to find the...
متن کاملComputation of Fingertip Positions for a Form-Closure Grasp
This paper proposes a simple and eÆcient algorithm for computing a form-closure grasp on a 3D polyhedral object. This algorithm searches for a form-closure grasp from a \good" initial grasp in a promising search direction that pulls the convex hull of the primitive contact wrenches towards the origin of the wrench space. The \good" initial grasp is a set of contact points that minimizes the dis...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2016
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2016.2588879