Title :
Intelligent grasp planning
Author :
Ammeen, E.S. ; Stephanou, H.E.
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;
Conference_Titel :
Systems Engineering, 1990., IEEE International Conference on
Conference_Location :
Pittsburgh, PA, USA
Print_ISBN :
0-7803-0173-0
DOI :
10.1109/ICSYSE.1990.203097
