DocumentCode
3478433
Title
Optimized planar grasping synthesis algorithm for multi-fingered robotic hand
Author
Yu, Ze ; Gu, Jason
Author_Institution
Dept. of Electr. & Comput. Eng., Dalhousie Univ., Halifax, NS, Canada
fYear
2009
fDate
5-7 Aug. 2009
Firstpage
1052
Lastpage
1057
Abstract
Grasp synthesis for multi-fingered robotic hand has drawn a lot of attention in the past a few years. How to find all feasible grasp candidates and how to evaluate those to find the best one are two mains topics in this field. In this paper, we proposed an optimized algorithm for searching grasp/hand configuration on planar objects and modified a set of quality measure criteria to rank all the grip candidates that can be found.
Keywords
computational complexity; control system synthesis; dexterous manipulators; optimisation; real-time systems; stability; grip candidate stability; multifingered robotic hand; optimization algorithm; optimized planar grasping synthesis algorithm; quality measure criteria; real-time system; time complexity; Fingers; Grasping; Kinematics; Logistics; Orbital robotics; Robot sensing systems; Robot vision systems; Robotics and automation; Shape; Tactile sensors; Grasp Synthesis; Optimization; Quality Measurement; Robotic Hand;
fLanguage
English
Publisher
ieee
Conference_Titel
Automation and Logistics, 2009. ICAL '09. IEEE International Conference on
Conference_Location
Shenyang
Print_ISBN
978-1-4244-4794-7
Electronic_ISBN
978-1-4244-4795-4
Type
conf
DOI
10.1109/ICAL.2009.5262575
Filename
5262575
Link To Document