DocumentCode :
2506041
Title :
A topological algorithm for continuous grasp planning
Author :
Nguyen, Thang N. ; Stephanou, Harry E.
Author_Institution :
George Mason Univ., Fairfax, VA, USA
fYear :
1990
fDate :
13-18 May 1990
Firstpage :
670
Abstract :
Consideration is given to the planning of multifingered dexterous grasps to meet the physical constraints of some anticipated action. Most of the existing dexterous grasp planning schemes operate on a finite and discrete set of grasps. Such a discrete set obviously hinders the applicability of grasp planning schemes to complex and versatile task requirements. A description is given of a hierarchy of topological and geometrical spaces representing the set of grasps, and a topological algorithm is proposed for the planning of continuous grasps using computational techniques drawn from point-set, combinatorial, and algebraic topology. The topological algorithm is illustrated by a pinch grasp example using a stick model of a four-fingered hand
Keywords :
planning (artificial intelligence); robots; topology; algebraic topology; combinatorial topology; continuous grasp planning; four-fingered hand; geometrical spaces; multifingered dexterous grasps; point-set topology; topological algorithm; Anthropomorphism; Communication system control; Fingers; Grasping; Humans; Intelligent control; Kinematics; Meeting planning; Orbital robotics; Topology;
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.1990.126061
Filename :
126061
Link To Document :
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