DocumentCode
1818998
Title
In-hand manipulation: geometry and algorithms
Author
Sudsang, Attawith ; Ponce, Jean
Author_Institution
Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA
Volume
1
fYear
1997
fDate
7-11 Sep 1997
Firstpage
98
Abstract
Addresses the problem of manipulating three-dimensional objects with a reconfigurable gripper. A detailed analysis of the problem geometry in configuration space is used to devise a simple and efficient algorithm for manipulation planning. The proposed approach has been implemented and preliminary simulation experiments are discussed
Keywords
computational geometry; computerised control; graph theory; configuration space; in-hand manipulation; manipulation planning; reconfigurable gripper; three-dimensional objects; Actuators; Algorithm design and analysis; Computational modeling; Concurrent computing; Geometry; Grid computing; Grippers; H infinity control; Pins; Prototypes;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location
Grenoble
Print_ISBN
0-7803-4119-8
Type
conf
DOI
10.1109/IROS.1997.649013
Filename
649013
Link To Document