期刊
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
卷 31, 期 3, 页码 436-444出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/3477.931540
关键词
connectivity; contact force decomposition; grasp planning; mobility; robotic hands
Grasping robotic hands is classified into three categories based on the object connectivity. We decompose the space of contact forces into four subspaces and develop a method to determine the dimensions of the subspaces with respect to the connectivity of the grasped object. The relationships we obtain reveal the kinematic and static characteristics of three categories of grasps. It indicates how contact forces can be decomposed corresponding to each type of grasp. The technique also provides a guideline for determining the distribution of contact forces on grasped objects. We analyze how power grasps are Identified from the object connectivity and used to synthesize hand configurations for grasping and manipulation tasks. A physical interpretation of the subspaces and the determination of their dimensions are illustrated by examples.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据