Title :
Planning planar grasps of smooth contours
Author :
Blake, Andrew ; Taylor, Michael
Author_Institution :
Dept. of Eng. Sci., Oxford Univ., UK
Abstract :
A theory for identification and classification of two-fingered grasps is described and demonstrated. It is shown that optimal finger positions are obtained from the pairwise intersections of three subsets in the configuration space for the gripper. The sets are the symmetry set, the antisymmetry set, and the critical set of the grasp map. An implementation of the theory is developed for an ADEPT robot with visual sensing
Keywords :
manipulators; set theory; ADEPT robot; antisymmetry set; classification; critical set; grasp map; grasp planning; identification; optimal finger positions; smooth contours; symmetry set; two-fingered grasps; visual sensing; Cameras; Fingers; Friction; Grippers; Orbital robotics; Path planning; Robot sensing systems; Robot vision systems; Tracking;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291931
