Dexterous manipulation: a geometrical reasoning point of view

Muñoz, Luis Antonio Belanche; Bard, C.; Najera, J.

doi:10.1109/robot.1995.525326

Cited by 11 publications

(6 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Multifingered robotic hands are useful to perform tasks of dexterous and fine manipulation and are increasingly demanded in industrial and medical applications. Since the initial work of Salisbury and Roth (1982), various multifingered hands (Cutkosky 1989;Umetsu and Oniki 1993) have been developed and many research literatures can be found on kinematics (Salisbury and Roth 1982;Montana 1988;Li, Hsu, and Sastry 1989), grasping (Kerr and Roth 1986;Kumar and Waldron 1987;Ponce and Faverjon 1995;Kirkpatrick and Yap 1995), and regrasping (Maekawa, Komoriya, and Tanie 1992;Munoz, Bard, and Najera 1995;Zhang, Tanie, and Maekawa 1996). Among various research topics concerning multifingered hands, stability of a grasp is one of the key issues.…”

Section: Introductionmentioning

confidence: 99%

Computing n-Finger Form-Closure Grasps on Polygonal Objects

Liu

2000

The International Journal of Robotics Research

110

View full text Add to dashboard Cite

This paper presents an efficient algorithm for computing all n-finger form-closure grasps on a polygonal object based on a new sufficient and necessary condition for form-closure. With this new condition, it is possible to transfer the problem of computing the form-closure grasp in R 3 to one in R 1. We demonstrate that the non-form-closure grasps consist of two convex polytopes in the space of n parameters representing grasp points on sides of the polygon. The proposed algorithm works efficiently for n ≤ 3 and takes O(n 3n/2) time for n > 3, where n denotes the number of the fingers. The algorithm has been implemented and its efficiency has been confirmed with two examples.

show abstract

Section: Introductionmentioning

confidence: 99%

Computing n-Finger Form-Closure Grasps on Polygonal Objects

Liu

2000

The International Journal of Robotics Research

110

View full text Add to dashboard Cite

show abstract

“…Although its use is still confined to laboratory research due to the overall complexity, much work has been done in this area concerning mechanical design, 1,2 kinematics, 1,3,4 grasp planning 5,6 and dextrous manipulation. 7,8 In this paper, we address the problem of computing stable grasps of polyhedral objects, a fundamental issue of grasp planning.…”

Section: Introductionmentioning

confidence: 99%

The synthesis of 3-D form-closure grasps

2000

View full text Add to dashboard Cite

This paper presents a new formulation of computing three-dimensional (3-D) frictional form-closure grasps of n robotic fingers. As 3-D form-closure grasps involve 6-D wrench space, we first propose a recursive reduction technique to transform the complicated problem in the 6-D space into a simpler 3-D one. Next, we rewrite the sufficient and necessary condition for form-closure grasps into its equivalent form of two sets of linear inequalities. Then, according to the linear inequality theory, the problem is transformed to searching for a set of points which ensure the inconsistency of each of the two linear inequality systems. To search for such points, we proposed two methods: The first one is based on testing whether the convex region formed by each linear inequality system is empty, while the second one relies on the potential field method. We have implemented the algorithm and confirmed their efficiency for the synthesis of 3-D form-closure grasps.

show abstract

“…Stacking the x s about (6), we get -U, = Jq (7) Infinitesimal joint displacement is calculated from the infinitesimal displacement of the object in the Cartesian coordinate system. This calculation is made for each finger independently of the movement of other fingers.…”

Section: Kinematic Constraint Of the Rolling Contactmentioning

confidence: 99%

Grasp planning for precision manipulation by multifingered robotic hand

Hasegawa

Murakami²,

Matsuoka³

IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028)

View full text Add to dashboard Cite

This paper describes a model-based grasp planner for an articulated multi-fingered robotic hand. The planner searches for an initial grasp from which a required continuous motion of an object is achieved using fingertips alone while keeping rolling contact with the object. An adaptive search strategy has been developed and implemented : the error analysis of the failed grasp is made to find the most promising search direction. A quality measure of manipulation is newly introduced and evaluated to select a better grasp among possible candidates. Simulation results are demonstrated.

show abstract

Dexterous manipulation: a geometrical reasoning point of view

Cited by 11 publications

References 4 publications

Computing n-Finger Form-Closure Grasps on Polygonal Objects

Computing n-Finger Form-Closure Grasps on Polygonal Objects

The synthesis of 3-D form-closure grasps

Grasp planning for precision manipulation by multifingered robotic hand

Contact Info

Product

Resources

About