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Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes

Author(s)
Pollard, Nancy S.
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Abstract
This report addresses the problem of acquiring objects using articulated robotic hands. Standard grasps are used to make the problem tractable, and a technique is developed for generalizing these standard grasps to increase their flexibility to variations in the problem geometry. A generalized grasp description is applied to a new problem situation using a parallel search through hand configuration space, and the result of this operation is a global overview of the space of good solutions. The techniques presented in this report have been implemented, and the results are verified using the Salisbury three-finger robotic hand.
Date issued
1994-01-01
URI
http://hdl.handle.net/1721.1/7055
Other identifiers
AITR-1464
Series/Report no.
AITR-1464

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  • AI Technical Reports (1964 - 2004)

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