DocumentCode
3175162
Title
Planning optimal grasps
Author
Ferrari, Carlo ; Canny, John
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
fYear
1992
fDate
12-14 May 1992
Firstpage
2290
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location
Nice
Print_ISBN
0-8186-2720-4
Type
conf
DOI
10.1109/ROBOT.1992.219918
Filename
219918
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