Analysis and Implementation of Robust Grasping Behaviors
This thesis addresses the problem of developing automatic grasping capabilities for robotic hands. Using a 2-jointed and a 4-jointed nmodel of the hand, we establish the geometric conditions necessary for achieving form closure grasps of cylindrical objects. We then define and show how to const...
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| Language: | en_US |
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2004
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| Online Access: | http://hdl.handle.net/1721.1/7033 |