Title :
Computer-graphic support for interactive grasp-planning
Author :
Kasinski, Andrzej ; Bonivento, Claudio ; Vassura, Gabriele
Author_Institution :
Tech. Univ. of Poznan, Poland
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;
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
DOI :
10.1109/ICAR.1991.240395
