DocumentCode
3337624
Title
Computer-graphic support for interactive grasp-planning
Author
Kasinski, Andrzej ; Bonivento, Claudio ; Vassura, Gabriele
Author_Institution
Tech. Univ. of Poznan, Poland
fYear
1991
fDate
19-22 June 1991
Firstpage
1182
Abstract
Discusses the main goals of computer graphic simulation of grasping with a dexterous articulated hand. The main problems in defining a simulation tool are then addressed, with main emphasis on the use of enhanced wire-frame representation techniques in order to fit to PC operating capability. The guidelines of a purposely developed package are then described and an application is presented, concerning grasp simulation with the University of Bologna articulated hand. Open problems and future developments are finally discussed.<>
Keywords
control system analysis computing; digital simulation; engineering graphics; interactive systems; manipulators; planning (artificial intelligence); University of Bologna; computer graphic simulation; dexterous articulated hand; digital simulation; enhanced wire-frame representation; interactive grasp-planning; kinematics; Animation; Computational modeling; Context modeling; Fingers; Force control; Friction; Kinematics; Object oriented modeling; Optical imaging; Sensor systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location
Pisa, Italy
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240395
Filename
240395
Link To Document