Kinematic feasibility analysis of 3-D multifingered grasp
The problem of determining whether a 3-D grasp is kinematically feasible is addressed in this paper. A unified computational framework for the kinematic feasibility analysis of grasps is proposed. In the study, we transform the detection of the feasibility of the grasp to the estimate of the relationship (contact, penetrate, and detach) between the exterior surfaces of the object and the hands elements (phalange and palm). The feasibility of a grasp then becomes equivalent to the estimate of the distance between the two section-lines in the same cross section. This allows us to cast the feasibility analysis conveniently as a problem of estimating the distance between two curves (or some points on the two curves) on a 2-D plane. Theoretically the object to be grasped can be any shape. An example is given to validate the method.
Multifingered grasp Kinematic Feasibility 3-D object
Yuwang Liu Hongguang Wang Weijia Zhou
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, She State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, She State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, She
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
5720-5725
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）