DocumentCode
2427981
Title
New hand posture classification strategy for finding kinematically-feasible precision grasps
Author
Thonnagith, Peerapong ; Sudsang, Attawith
Author_Institution
Dept. of Comput. Eng., Chulalongkorn Univ., Bangkok, Thailand
fYear
2010
fDate
7-10 Dec. 2010
Firstpage
1583
Lastpage
1588
Abstract
We present new strategy for finding kinematically-feasible precision grasps for particular robot hand. By collecting samples of hand posture and classifying them into multi level-of-detail of posture information for each hand configuration, we can efficiently search for valid hand postures given a set of contact points within reasonable processing time. The approach for creating hand posture database can be also applied to any kind of robot hands as long as the kinematic specification of those hands are provided.
Keywords
dexterous manipulators; manipulator kinematics; dextrous manipulation; hand configuration; hand posture classification strategy; hand posture database; kinematically-feasible precision grasps; particular robot hand; posture information; Classification algorithms; Clustering algorithms; Databases; Kinematics; Robots; Shape; Wrist; Dextrous Manipulation; Precision Grasp;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location
Singapore
Print_ISBN
978-1-4244-7814-9
Type
conf
DOI
10.1109/ICARCV.2010.5707334
Filename
5707334
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