N.S. Pollard and T. Lozano-P'erez. Grasp stability and feasibility for an arm with an articulated hand. In IEEE Int. Conf. on Robotics and Automation, pages 1581--1585, Cincinatti, OH, 1990.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....segments of the polygonal boundary where the two fingers can be positioned independently while maintaining force closure, requiring as little positional accuracy from the robot as possible. This approach has been generalized to handle various numbers of fingers and different object geometries in [4, 7, 42, 44, 45, 46] Although robotic grasping and fixture planning are related (in both cases, the object grasped of fixtured must, after all, be held securely) their functional requirements are not the same: as remarked by Chou, Chandru, and Barash [8] machining a part requires much better positional accuracy ....

N.S. Pollard and T. Lozano-P'erez. Grasp stability and feasibility for an arm with an articulated hand. In IEEE Int. Conf. on Robotics and Automation, pages 1581--1585, Cincinatti, OH, 1990.

....Recently the attention of some researchers in this field has been focused on the redundant hand arm system, and how to deal with the whole device. The approaches taken so far have dealt with the satisfaction of some optimality criteria, which consider a stable and feasible grasp as a major goal, [8, 9]. In [8] the problem of the control of the whole device is separated into the two sub problems of first choosing a suitable grasp pose for the hand, and then defining the arm position and orientation on this basis. In [9] the use of a non linear programming technique, including several optimality ....

....criteria, which consider a stable and feasible grasp as a major goal, 8, 9] In [8] the problem of the control of the whole device is separated into the two sub problems of first choosing a suitable grasp pose for the hand, and then defining the arm position and orientation on this basis. In [9] the use of a non linear programming technique, including several optimality criteria for the joints and the grasp, is proposed for the effective planning of the hand arm trajectory. Since the hand arm system can be considered a redundant manipulator, it seems natural, in order to exploit fully ....

Pollard, N., Lozano-Perez, T., "Grasp Stability and Feasibility for an Arm with an Articulated Hand", Proc. IEEE Int. Conf. on Robotics and Automation, Cincinnati, OH, 1990.

....Recently the attention of some researchers in this field has been focused on the redundant hand arm system, and how to deal with the whole device. The approaches taken so far have dealt with the satisfaction of some optimality criteria, which consider a stable and feasible grasp as a major goal, [8, 9]. In [8] the problem of the control of the whole device is separated into the two sub problems of first choosing a suitable grasp pose for the hand, and then defining the arm position and orientation on this basis. In [9] the use of a non linear programming technique, including several optimality ....

....criteria, which consider a stable and feasible grasp as a major goal, 8, 9] In [8] the problem of the control of the whole device is separated into the two sub problems of first choosing a suitable grasp pose for the hand, and then defining the arm position and orientation on this basis. In [9] the use of a non linear programming technique, including several optimality criteria for the joints and the grasp, is proposed for the effective planning of the hand arm trajectory. Since the hand arm system can be considered a redundant manipulator, it seems natural, in order to exploit fully ....

Pollard, N., Lozano-Perez, T., "Grasp Stability and Feasibility for an Arm with an Articulated Hand", Proc. IEEE Int. Conf. on Robotics and Automation, Cincinnati, OH, 1990.

....of the polygonal boundary where the two fingers can be positioned independently while maintaining force closure, requiring 2 as little positional accuracy from the robot as possible. This approach has been generalized to handle various numbers of fingers and different object geometries in [3, 7, 27, 29, 30, 31] Recently, Rimon and Burdick have introduced the notion of second order immobility [36, 37, 38] and shown that certain equilibrium grasps (or fixtures) of a part which do not achieve form closure effectively prevent any finite motion of this part through curvature effects in configuration space. ....

N.S. Pollard and T. Lozano-P'erez. Grasp stability and feasibility for an arm with an articulated hand. In IEEE Int. Conf. on Robotics and Automation, pages 1581--1585, Cincinatti, OH, 1990.

....segments of the polygonal boundary where the two fingers can be positioned independently while maintaining force closure, requiring as little positional accuracy from the robot as possible. This approach has been generalized to handle various numbers of fingers and different object geometries in [3, 8, 35, 37, 38, 39] Robotic grasping and fixture planning are related problems (in both cases, the object grasped 3 of fixtured must, after all, be held securely) but their functional requirements are not the same: as remarked by Chou, Chandru, and Barash [9] machining a part requires much better positional ....

N.S. Pollard and T. Lozano-P'erez. Grasp stability and feasibility for an arm with an articulated hand. In IEEE Int. Conf. on Robotics and Automation, pages 1581--1585, Cincinatti, OH, 1990.

....segments of the polygonal boundary where the two fingers can be positioned independently while maintaining force closure, requiring as little positional accuracy from the robot as possible. This approach has been generalized to handle various numbers of fingers and different object geometries in [4, 7, 42, 44, 45, 46] Although robotic grasping and fixture planning are related (in both cases, the object grasped of fixtured must, after all, be held securely) their functional requirements are not the same: as remarked by Chou, Chandru, and Barash [8] machining a part requires much better positional accuracy ....

N.S. Pollard and T. Lozano-P'erez. Grasp stability and feasibility for an arm with an articulated hand. In IEEE Int. Conf. on Robotics and Automation, pages 1581--1585, Cincinatti, OH, 1990.

....segments of the polygonal boundary where the two fingers can be positioned independently while maintaining force closure, requiring as little positional accuracy from the robot as possible. This approach has been generalized to handle various numbers of fingers and different object geometries in [1, 5, 22, 24, 25, 26]. Robotic grasping and fixture planning are related problems (in both cases, the object grasped of fixtured must, after all, be held securely) but their functional requirements are not the same: as remarked by Chou, Chandru, and Barash [6] machining a part requires much better positional ....

N.S. Pollard and T. Lozano-P'erez. Grasp stability and feasibility for an arm with an articulated hand. In IEEE Int. Conf. on Robotics and Automation, pages 1581--1585, Cincinatti, OH, 1990.

.... method for computing maximal independent two finger grasps of polygons, i.e. segments of the polygonal boundary where the two fingers can be positioned independently while maintaining force closure, requiring as little positional accuracy from the robot as possible, and Pollard and Lozano P erez [43] have used a direct generalization of this approach to plan three finger grasps of polyhedral objects as part of a whole manipulation system, including obstacle avoidance, and feasibility and reachability tests. Faverjon, Ponce, and Stam [10, 46] and Chen and Burdick [6] have also generalized ....

....lying in different planes and having one line in common are degenerate. From now on we restrict our attention to non planar grasps, i.e. to sets of four contact forces whose lines of action do not all lie in the same plane. Algorithms for computing planar three finger grasps can be found in [18, 20, 43]. a) b) c) d) e) Figure 2: Configurations of linearly dependent lines: a) coplanar lines, b) concurrent lines, c) two flat pencils of lines having a line in common, d) a regulus. As shown in (e) each line in the regulus intersects three skew lines. After [13] 2.5 A Necessary and ....

N.S. Pollard and T. Lozano-P'erez. Grasp stability and feasibility for an arm with an articulated hand. In IEEE Int. Conf. on Robotics and Automation, pages 1581--1585, Cincinatti, OH, 1990.

....problems. In the literature on grasping and closure analysis, little attention seems to have been payed to the Figure 2: An object constrained by three contact points. role of the end effector structure and kinematics, with the notable exceptions of Trinkle et al. 1987] Waldron et al. 1989] Pollard and Lozano Perez [1990], and Hunt et al. 1991] In section 3 of this paper we introduce a definition of force closure that takes into account the kinematics of the gripping device. Further, we show the equivalence between the investigation of force closure with the study of the equilibria of an ordinary ....

Pollard, N.S., and Lozano--Perez, T. 1990. Grasp Stability and Feasibility for an Arm with an Articulated Hand. Proc. IEEE Int. Conf. on Robotics and Automation, pp. 581--585.

....by Nguyen [1988] Ferrari and Canny [1992] Chen and Burdick [1993] and Nakamura et al. 1989] Few authors in the literature payed attention to the relations between grasping and the endeffector structure and kinematics. Among those who did, are Trinkle et al. 1987] Waldron et al. 1989] Pollard and Lozano Perez [1990], and Hunt et al. 1991] To explain why the endeffector kinematic structure is relevant to force closure, consider the grasps depicted in fig. 2 a and fig. 2 b, where the same object is held by two different end effectors through three identical contacts (friction cones are depicted by ....

Pollard, N.S., and Lozano--Perez, T.: "Grasp stability and feasibility for an arm with an articulated hand", Proc. IEEE Int. Conf. on Robotics and Automation, pp. 581--585, 1990.

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Pollard, N.S., and Lozano--Perez, T.: Grasp stability and feasibility for an arm with an articulated hand. Proc. IEEE Int. Conf. on Robotics and Automation, pp. 581--585, 1990.

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