Optimization of Robot Hand Power Grasps.
نویسندگان
چکیده
منابع مشابه
Optimization of Power Grasps for Multiple Objects
Power grasp is a grasp that can hold objects stably without changing the joint torques of ngers. Almost all studies on power grasp deal with one object. But it is more eÆcient to hold multiple objects at the same time. This paper derives a condition for power grasp for multiple objects, and de nes an optimal power grasp from the viewpoint of decreasing the work of joint torques. Lastly, we show...
متن کاملHuman Hand Motion Analysis and Synthesis of Optimal Power Grasps for a Robotic Hand
Biologically inspired robotic systems can find important applications in biomedical robotics, since studying and replicating human behaviour can provide new insights into motor recovery, functional substitution and human-robot interaction. The analysis of human hand motion is essential for collecting information about human hand movements useful for generalizing reaching and grasping actions on...
متن کاملGlobal Optimization of Robotic Grasps
This paper presents a procedure to optimize the quality of robotic grasps for objects that need to be held and manipulated in a specific way, characterized by a number of tight contact constraints. The main difficulties of the problem include that the set of feasible grasps is a manifold implicitly defined by a system of non-linear equations, the high dimension of this manifold, and the multi-m...
متن کاملPlanning Grasps for a Robot Hand in the Presence of Obstacles
In grasp planning for a robot hand, the impact of the environment geometry on grasp choice is often of paramount importance. This paper presents a partial solution to the problem of tting a hand to an object in a given environment. Information provided by a set of ngertip contact regions or by a grasp prototype is exploited to e ciently compute the space of wrist con gurations from which the gr...
متن کاملClassification of grasps by multifingered robot hands
This research characterizes grasping by multifingered robot hands through an investigation of the space of contact forces between fingers and the grasped object. By decomposing the space of contact forces into four subspaces, we develop a method to determine the dimensions of the subspaces with respect to the connectivity of the object. The relationship we obtain reveals the diflkrences between...
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: Journal of the Robotics Society of Japan
سال: 1999
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.17.557