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
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;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126234
