DocumentCode
2521465
Title
Grasp stability and feasibility for an arm with an articulated hand
Author
Pollard, Nancy S. ; Lozano-Pérez, Tomás
Author_Institution
MIT Artificial Intelligence Lab., Cambridge, MA, USA
fYear
1990
fDate
13-18 May 1990
Firstpage
1581
Abstract
A system for generating a stable, feasible grasp of a polyhedral object is presented. A set of contact points on the object that can result in a stable grasp is found, and a feasible grasp in which the robot contacts the object at those contact points is determined. The algorithm is designed for the Salisbury hand mounted on a Puma 560 arm, but a similar approach could be used to develop grasping systems for other robots. Simulations show that the system can generate a wide range of grasps in difficult situations
Keywords
planning (artificial intelligence); robots; stability; Puma 560 arm; Salisbury hand; articulated hand; grasp feasibility; grasp stability; polyhedral object; robots; Algorithm design and analysis; Artificial intelligence; Fingers; Friction; Grasping; Laboratories; Orbital robotics; Robots; Springs; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location
Cincinnati, OH
Print_ISBN
0-8186-9061-5
Type
conf
DOI
10.1109/ROBOT.1990.126234
Filename
126234
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