Grasp Stability and Feasibility for an Arm with an Articulated Hand
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 1581 - 1585, May, 1990
Abstract
A system for generating a stable, feasible grasp of a polyhedral object is presented. A set of contact points on the object that can result in a stable grasp is found, and a feasible grasp in which the robot contacts the object at those contact points is determined. The algorithm 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.
BibTeX
@conference{Pollard-1990-119884,author = {Nancy S. Pollard and Tomás Lozano-Pérez},
title = {Grasp Stability and Feasibility for an Arm with an Articulated Hand},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1990},
month = {May},
volume = {3},
pages = {1581 - 1585},
}
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