Simplified Grasping and Manipulation with Dextrous Robot Hands
A method is presented for stably grasping 2 dimensional polygonal objects with a dextrous hand when object models are not avaiable. Basic constraints on object vertex angles are found for feasible grasping with two fingers. Local tactile information can be used to determine the finger motion that wi...
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| Language: | en_US |
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2004
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| Online Access: | http://hdl.handle.net/1721.1/5622 |