On Dexterous Rotations of Polygons

Abstract

Dexterous manipulation, which is the reorientation of objects inside robot hands, is an active area of robotics research, whose progress has been slow. In this paper we present an algorithm for dexterous rotations of polygons by finger tracking. The algorithm involves simple finger motions, it can achieve arbitrarily large rotations, and it is robust in the presence of computational uncertainties.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1991
Accession Number
ADA250967

Entities

People

  • Daniela L. Rus

Organizations

  • Cornell University

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Algorithms
  • Computer Science
  • Construction
  • Control
  • Coordinate Systems
  • Equations
  • Geometry
  • Motion Planning
  • Notation
  • Orientation (Direction)
  • Polygons
  • Relative Motion
  • Robots
  • Rotation
  • Sequences
  • Task Performance And Analysis
  • Triangles

Fields of Study

  • Computer science

Readers

  • Neural Network Machine Learning.
  • Robotics and Automation.

Technology Areas

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