Title :
In-hand manipulation: geometry and algorithms
Author :
Sudsang, Attawith ; Ponce, Jean
Author_Institution :
Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA
Abstract :
Addresses the problem of manipulating three-dimensional objects with a reconfigurable gripper. A detailed analysis of the problem geometry in configuration space is used to devise a simple and efficient algorithm for manipulation planning. The proposed approach has been implemented and preliminary simulation experiments are discussed
Keywords :
computational geometry; computerised control; graph theory; configuration space; in-hand manipulation; manipulation planning; reconfigurable gripper; three-dimensional objects; Actuators; Algorithm design and analysis; Computational modeling; Concurrent computing; Geometry; Grid computing; Grippers; H infinity control; Pins; Prototypes;
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location :
Grenoble
Print_ISBN :
0-7803-4119-8
DOI :
10.1109/IROS.1997.649013
