Simplified Grasping and Manipulation with Dextrous Robot Hands.

Abstract

A method is presented for stably grasping 2 dimensional polygonal objects with a dextrous hand when object models are not available. Basic constraints on object vertex angles are found for feasible grasping with two fingers. Local tactile information can be used to determine the finger motion that will reach feasible grasping locations. With an appropriate choice of finger stiffness, a hand can automatically grasp these objects with two fingers. The bounded slip of a part in a hand is shown to be valuable for adapting the fingers and object to a stable situation. Examples are given to show the ability of this grasping method to accommodate disturbance forces and to perform simple part reorientations and regrasping operations.

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Document Details

Document Type
Technical Report
Publication Date
Nov 01, 1984
Accession Number
ADA148962

Entities

People

  • R. S. Fearing

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Buildings And Structures
  • Center Of Gravity
  • Coordinate Systems
  • Equations
  • Feedback
  • Friction
  • Gravity
  • Orientation (Direction)
  • Rotation
  • Security
  • Shape
  • Sliding
  • Sliding Contacts
  • Stiffness
  • Translations
  • Two Dimensional

Readers

  • Atmospheric Science / Meteorology, specifically Wind Wave Turbulence.
  • Computer Vision.
  • Electrical Engineering

Technology Areas

  • AI & ML
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy