Synthesizing grasps from generalized prototypes
نویسنده
چکیده
This paper introduces a grasp synthesis algorithm that can use any grasp prototype as the starting point in a search for a good grasp. The algorithm makes the given prototype more eeective by generalizing it for a speciic task. This generalization step expands the range of application of the prototype to a wide variety of target object geometries, while ensuring that the resulting grasps are appropriate for the intended task. An example whole-hand grasp synthesized for the Salisbury hand is shown at the end of the paper.
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