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Author Blake, A. ♦ Taylor, M.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1993
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Fingers ♦ Friction ♦ Grippers ♦ Robot sensing systems ♦ Tracking ♦ Orbital robotics ♦ Robot vision systems ♦ Cameras ♦ Path planning
Abstract A theory for identification and classification of two-fingered grasps is described and demonstrated. It is shown that optimal finger positions are obtained from the pairwise intersections of three subsets in the configuration space for the gripper. The sets are the symmetry set, the antisymmetry set, and the critical set of the grasp map. An implementation of the theory is developed for an ADEPT robot with visual sensing.
Description Author affiliation: Dept. of Eng. Sci., Oxford Univ., UK (Blake, A.; Taylor, M.)
ISBN 0818634502
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1993-05-02
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 493.55 kB
Page Count 6
Starting Page 834
Ending Page 839


Source: IEEE Xplore Digital Library