Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes

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.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1994
Accession Number
ADA276798

Entities

People

  • Nancy S. Pollard

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Accuracy
  • Algorithms
  • Artificial Intelligence
  • Collision Avoidance
  • Computations
  • Computer Programming
  • Coordinate Systems
  • Dynamic Programming
  • Electrical Engineering
  • Four Dimensional
  • Geometry
  • Information Systems
  • Orientation (Direction)
  • Resilience
  • Standards
  • Three Dimensional
  • Two Dimensional

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Educational Psychology

Technology Areas

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