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Analysis and Implementation of Robust Grasping Behaviors

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Show simple item record Chammas, Camille Z. en_US 2004-10-20T20:23:01Z 2004-10-20T20:23:01Z 1990-05-01 en_US
dc.identifier.other AITR-1237 en_US
dc.description.abstract This thesis addresses the problem of developing automatic grasping capabilities for robotic hands. Using a 2-jointed and a 4-jointed nmodel of the hand, we establish the geometric conditions necessary for achieving form closure grasps of cylindrical objects. We then define and show how to construct the grasping pre-image for quasi-static (friction dominated) and zero-G (inertia dominated) motions for sensorless and sensor-driven grasps with and without arm motions. While the approach does not rely on detailed modeling, it is computationally inexpensive, reliable, and easy to implement. Example behaviors were successfully implemented on the Salisbury hand and on a planar 2-fingered, 4 degree-of-freedom hand. en_US
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dc.format.mimetype application/postscript
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dc.language.iso en_US
dc.relation.ispartofseries AITR-1237 en_US
dc.title Analysis and Implementation of Robust Grasping Behaviors en_US

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