Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes
This report addresses the problem of acquiring objects using articulated robotic hands. Standard grasps are used to make the problem tractable, and a technique is developed for generalizing these standard grasps to increase their flexibility to variations in the problem geometry. A generalized...
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/7055 |
| _version_ | 1811087649487716352 |
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| author | Pollard, Nancy S. |
| author_facet | Pollard, Nancy S. |
| author_sort | Pollard, Nancy S. |
| collection | MIT |
| description | This report addresses the problem of acquiring objects using articulated robotic hands. Standard grasps are used to make the problem tractable, and a technique is developed for generalizing these standard grasps to increase their flexibility to variations in the problem geometry. A generalized grasp description is applied to a new problem situation using a parallel search through hand configuration space, and the result of this operation is a global overview of the space of good solutions. The techniques presented in this report have been implemented, and the results are verified using the Salisbury three-finger robotic hand. |
| first_indexed | 2024-09-23T13:49:49Z |
| id | mit-1721.1/7055 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T13:49:49Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/70552019-04-10T11:52:28Z Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes Pollard, Nancy S. This report addresses the problem of acquiring objects using articulated robotic hands. Standard grasps are used to make the problem tractable, and a technique is developed for generalizing these standard grasps to increase their flexibility to variations in the problem geometry. A generalized grasp description is applied to a new problem situation using a parallel search through hand configuration space, and the result of this operation is a global overview of the space of good solutions. The techniques presented in this report have been implemented, and the results are verified using the Salisbury three-finger robotic hand. 2004-10-20T20:24:03Z 2004-10-20T20:24:03Z 1994-01-01 AITR-1464 http://hdl.handle.net/1721.1/7055 en_US AITR-1464 20757004 bytes 14552639 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Pollard, Nancy S. Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes |
| title | Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes |
| title_full | Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes |
| title_fullStr | Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes |
| title_full_unstemmed | Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes |
| title_short | Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes |
| title_sort | parallel methods for synthesizing whole hand grasps from generalized prototypes |
| url | http://hdl.handle.net/1721.1/7055 |
| work_keys_str_mv | AT pollardnancys parallelmethodsforsynthesizingwholehandgraspsfromgeneralizedprototypes |