Title :
A criteria-based approach to grasp synthesis
Author :
Hester, R.D. ; Cetin, M. ; Kapoor, C. ; Tesar, D.
Author_Institution :
Robotics Res. Group, Texas Univ., Austin, TX, USA
Abstract :
This study introduces a criteria-based methodology for grasp synthesis. The method allows the use of multiple performance criteria both at the finger and the hand levels, which are used to generate a preliminary grasp and an optimum grasp, respectively. The approach offers reduced complexity by decomposing grasp synthesis into manageable phases. A case study using a physical hand demonstrates the effectiveness of the method
Keywords :
Jacobian matrices; control system synthesis; manipulator dynamics; manipulator kinematics; planning (artificial intelligence); Jacobian matrix; NASA-JSC hand; grasp planning; grasp synthesis; manipulators; multiple performance criteria; Fingers; Friction; Grasping; Jacobian matrices; Orbital robotics; Postal services; Robots; Space stations; Testing; Wrist;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.772533
