منابع مشابه
RID-GRASP: Redundancy Identification and Removal Using GRASP
Redundancy identification and removal is a critical step that typically follows logic synthesis or optimization. In principle, it should be possible to restrict the transformations applied by synthesis and optimization algorithms to those that preserve testability. In practice, however, few, if any, synthesis programs can guarantee the irredundancy of the logic circuits they produce. It may als...
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In studying grasping and manipulation we find two very different approaches to the subject: knowledge-based approaches based primarily on empirical studies of human grasping and manipulation, and analytical approaches based primarily on physical models of the manipulation process. This chapter begins with a review of studies of human grasping, in particular our development of a grasp taxonomy a...
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This paper introduces a principle to guide the design of finger form: invariance of contact geometry over some continuum of varying shape and/or pose of the grasped object in the plane. Specific applications of this principle include scaleinvariant and pose-invariant grasps. Under specific conditions, the principle gives rise to spiral shaped fingers, including logarithmic spirals and straight ...
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When manipulating parts, it is important to determine the orientation of the part with respect to thegripper. This orientation may not be known precisely or may be disturbed by the act of grasping. It isin some cases possible to use mechanical compliance to orient parts during grasping. It was recentlyshown [14] that any part with polygonal boundary can be oriented and grasped i...
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ژورنال
عنوان ژورنال: Nature
سال: 1998
ISSN: 0028-0836,1476-4687
DOI: 10.1038/26634