Planning dextrous robot hand grasps from range data, using preshapes and digit trajectories
In this thesis a grasp metric based on stability and kinematic feasibility is introduced. The preshaping paradigm is extended to include consideration of the trajectories that the digits take during closure from preshape to final grasp. The resulting <I>grasp strategy </I>is dependent up...
| Main Author: | |
|---|---|
| Published: |
University of Edinburgh
1997
|
| Subjects: | |
| Online Access: | http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.664023 |