Title :
Planning optimal grasps
Author :
Ferrari, Carlo ; Canny, John
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
The authors address the problem of planning optimal grasps. Two general optimality criteria that consider the total finger force and the maximum finger force are introduced and discussed. Their formalization using various metrics on a space of generalized forces is detailed. The geometric interpretation of the two criteria leads to an efficient planning algorithm. An example of its use in a robotic environment equipped with two-jaw and three-jaw is described
Keywords :
computational geometry; force control; manipulators; optimisation; planning (artificial intelligence); geometric interpretation; manipulators; maximum finger force; optimal grasp planning; optimality criteria; robotics; total finger force; Actuators; Assembly systems; Computer science; Extraterrestrial measurements; Fingers; Grasping; Grippers; Manipulators; Orbital robotics; Robots;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.219918
