DocumentCode
339570
Title
A criteria-based approach to grasp synthesis
Author
Hester, R.D. ; Cetin, M. ; Kapoor, C. ; Tesar, D.
Author_Institution
Robotics Res. Group, Texas Univ., Austin, TX, USA
Volume
2
fYear
1999
fDate
1999
Firstpage
1255
Abstract
This study introduces a criteria-based methodology for grasp synthesis. The method allows the use of multiple performance criteria both at the finger and the hand levels, which are used to generate a preliminary grasp and an optimum grasp, respectively. The approach offers reduced complexity by decomposing grasp synthesis into manageable phases. A case study using a physical hand demonstrates the effectiveness of the method
Keywords
Jacobian matrices; control system synthesis; manipulator dynamics; manipulator kinematics; planning (artificial intelligence); Jacobian matrix; NASA-JSC hand; grasp planning; grasp synthesis; manipulators; multiple performance criteria; Fingers; Friction; Grasping; Jacobian matrices; Orbital robotics; Postal services; Robots; Space stations; Testing; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.772533
Filename
772533
Link To Document