Journal article
Kinematic enveloping grasp planning method for robotic dexterous hands and three-dimensional objects
Abstract
SUMMARY
Three-dimensional (3D) enveloping grasps for dexterous robotic hands possess several advantages over other types of grasps. This paper describes a new method for kinematic 3D enveloping grasp planning. A new idea for grading the 3D grasp search domain for a given object is proposed. The grading method analyzes the curvature pattern and effective diameter of the object, and grades object regions according to their …
Authors
Salimi S; Bone GM
Journal
Robotica, Vol. 26, No. 3, pp. 331–344
Publisher
Cambridge University Press (CUP)
Publication Date
5 2008
DOI
10.1017/s0263574707003955
ISSN
0263-5747