The Grasping Problem: Toward Task-Level Programming for an Articulated Hand
This report presents a system for generating a stable, feasible, and reachable grasp of a polyhedral object. A set of contact points on the object is found that can result in a stable grasp; a feasible grasp is found in which the robot contacts the object at those contact points; and a path is...
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| Γλώσσα: | en_US |
| Έκδοση: |
2004
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| Διαθέσιμο Online: | http://hdl.handle.net/1721.1/6817 |