DocumentCode
540019
Title
Intelligent grasp planning
Author
Ammeen, E.S. ; Stephanou, H.E.
fYear
1990
fDate
9-11 Aug. 1990
Firstpage
52
Lastpage
55
Abstract
The problem of grasping with multifingered robot hands is discussed. Relationships between grasp configurations and task objectives are discussed. A number of grasp quality measures are explored to gain insight into the relationships between grasp posture, relative hand-object contact, and task requirements. The method in which these measures are calculated is analyzed. A procedure based on this analysis for planning an optimum grasp configuration for a specified type of contact and a desired task objective is proposed
Keywords
planning (artificial intelligence); robots; grasp configurations; grasp planning; grasp quality measures; multifingered robot hands; relative hand-object contact; task objectives; task requirements;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems Engineering, 1990., IEEE International Conference on
Conference_Location
Pittsburgh, PA, USA
Print_ISBN
0-7803-0173-0
Type
conf
DOI
10.1109/ICSYSE.1990.203097
Filename
5725629
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