A Symmetry Theory of Planar Grasp

نویسنده

  • Andrew Blake
چکیده

A theory for identi cation and classi cation of two ngered grasps is described and demon strated It is shown that optimal nger positions are obtained from the pairwise intersections of three subsets in the con guration space for the gripper The sets are the symmetry and antisymmetry sets and a third set the critical set of the grasp map Furthermore the three sets themselves form boundaries in a natural partition of con guration space The partition corresponds to a classi cation of possible grasps according to their stability properties An implementation of the theory has been developed for an Adept robot with visual sensing

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عنوان ژورنال:
  • I. J. Robotics Res.

دوره 14  شماره 

صفحات  -

تاریخ انتشار 1995