DocumentCode
2331466
Title
Optimal multifingered grasp synthesis
Author
Coelho, J.A., Jr. ; Grupen, R.A.
Author_Institution
Dept. of Comput. Sci., Massachusetts Univ., Amherst, MA, USA
fYear
1994
fDate
8-13 May 1994
Firstpage
1937
Abstract
This paper discusses how grasp synthesis can be cast as a control composition problem. Two elemental grasp controllers are presented and composed into a general purpose grasp controller through the use of standard optimal control techniques. The resulting grasp synthesis procedure is scalable on the number of contacts, is not tied to any specific object representation scheme, and can incorporate kinematic constraints into its resolution
Keywords
kinematics; manipulators; optimal control; control composition problem; elemental grasp controllers; kinematic constraints; optimal multifingered grasp synthesis; standard optimal control techniques; Computer science; Force control; Friction; Geometry; Jacobian matrices; Kinematics; Laboratories; Null space; Optimal control; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location
San Diego, CA
Print_ISBN
0-8186-5330-2
Type
conf
DOI
10.1109/ROBOT.1994.351178
Filename
351178
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