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题名: Kinematic feasibility analysis of 3-D multifingered grasp
作者: Liu YW(刘玉旺) ; Wang HG(王洪光) ; Zhou WJ(周维佳)
作者部门: 机器人学研究室
会议名称: 21st Chinese Control and Decision Conference
会议日期: June 17-19, 2009
会议地点: Guilin, China
会议主办者: NE Univ, IEEE Ind Elect Singapore Chapter, Guilin Univ Elect Technol, IEEE Control Syst Soc, IEEE Ind Elect Soc
会议录: CCDC 2009: 21ST CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, PROCEEDINGS
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2009
页码: 5720-5725
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-2723-9
关键词: Multifingered grasp ; Kinematic Feasibility ; 3-D object
摘要: The problem of determining whether a 3-D grasp is kinematically feasible is addressed in this paper. A unified computational framework for the kinematic feasibility analysis of grasps is proposed. In the study, we transform the detection of the feasibility of the grasp to the estimate of the relationship (contact, penetrate, and detach) between the exterior surfaces of the object and the hand's elements (phalange and palm). The feasibility of a grasp then becomes equivalent to the estimate of the distance between the two section-lines in the same cross section. This allows us to cast the feasibility analysis conveniently as a problem of estimating the distance between two curves (or some points on the two curves) on a 2-D plane. Theoretically the object to be grasped can be any shape. An example is given to validate the method.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8748
Appears in Collections:机器人学研究室_会议论文

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