The Grasping Problem: Toward Task-Level Programming for an Articulated Hand

Abstract

This report presents a system for generating a stable, feasible, and reachable grasp of a polyhedral object. A set of contact points on the object is found that can result in a stable grasp; a feasible grasp is found in which the robot contacts the object at those contact points; and a path is constructed from the initial configuration of the robot to the stable, feasible final grasp configuration. The algorithm described in the report is designed for the Salisbury hand mounted on a Puma 560 arm, but a similar approach could be used to develop grasping systems for other robots. Simulations show that the system can generate a wide range of grasps in difficult situations. (Author) (KR)

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Document Details

Document Type
Technical Report
Publication Date
May 01, 1990
Accession Number
ADA225712

Entities

People

  • Nancy S. Pollard

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Cells
  • Coefficients
  • Collision Avoidance
  • Collisions
  • Computer Programming
  • Computer Science
  • Control
  • Coordinate Systems
  • Environment
  • Equations
  • Geometry
  • Military Research
  • Motion Planning
  • Robots
  • Two Dimensional

Fields of Study

  • Computer science

Readers

  • Operations Research
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy