Synthesizing Grasps from Generalized Prototypes
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 2124 - 2130, April, 1996
Abstract
This paper introduces a grasp synthesis algorithm that can use any grasp prototype as the starting point in a search for a good grasp. The algorithm makes the given prototype more effective by generalizing it for a specific task. This generalization step expands the range of application of the prototype to a wide variety of target object geometries, while ensuring that the resulting grasps are appropriate for the intended task. An example whole-hand grasp synthesized for the Salisbury hand is shown at the end of the paper.
BibTeX
@conference{Pollard-1996-119880,author = {Nancy S. Pollard},
title = {Synthesizing Grasps from Generalized Prototypes},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1996},
month = {April},
volume = {3},
pages = {2124 - 2130},
}
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