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 |
| _version_ | 1826201627340570624 |
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| author | Chammas, Camille Z. |
| author_facet | Chammas, Camille Z. |
| author_sort | Chammas, Camille Z. |
| collection | MIT |
| description | 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 construct the grasping pre-image for quasi-static (friction dominated) and zero-G (inertia dominated) motions for sensorless and sensor-driven grasps with and without arm motions. While the approach does not rely on detailed modeling, it is computationally inexpensive, reliable, and easy to implement. Example behaviors were successfully implemented on the Salisbury hand and on a planar 2-fingered, 4 degree-of-freedom hand. |
| first_indexed | 2024-09-23T11:54:19Z |
| id | mit-1721.1/7033 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:54:19Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/70332019-04-12T08:33:49Z Analysis and Implementation of Robust Grasping Behaviors Chammas, Camille Z. 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 construct the grasping pre-image for quasi-static (friction dominated) and zero-G (inertia dominated) motions for sensorless and sensor-driven grasps with and without arm motions. While the approach does not rely on detailed modeling, it is computationally inexpensive, reliable, and easy to implement. Example behaviors were successfully implemented on the Salisbury hand and on a planar 2-fingered, 4 degree-of-freedom hand. 2004-10-20T20:23:01Z 2004-10-20T20:23:01Z 1990-05-01 AITR-1237 http://hdl.handle.net/1721.1/7033 en_US AITR-1237 4378002 bytes 3412668 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Chammas, Camille Z. Analysis and Implementation of Robust Grasping Behaviors |
| title | Analysis and Implementation of Robust Grasping Behaviors |
| title_full | Analysis and Implementation of Robust Grasping Behaviors |
| title_fullStr | Analysis and Implementation of Robust Grasping Behaviors |
| title_full_unstemmed | Analysis and Implementation of Robust Grasping Behaviors |
| title_short | Analysis and Implementation of Robust Grasping Behaviors |
| title_sort | analysis and implementation of robust grasping behaviors |
| url | http://hdl.handle.net/1721.1/7033 |
| work_keys_str_mv | AT chammascamillez analysisandimplementationofrobustgraspingbehaviors |