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dc.contributor.authorDeSilets, Mark E.en_US
dc.date.accessioned2007-05-23T09:53:01Z
dc.date.available2007-05-23T09:53:01Z
dc.date.issued1992en_US
dc.identifier.urihttp://hdl.handle.net/1903/5340
dc.description.abstractWe present an analysis of robotic grasping and apply it to the specific problem of using the Modular Dextrous Hand (MDH), developed at the Systems Research Center. The goal is to provide the capability to automatically select, analyze and implement a firm grasp for arbitrarily shaped objects. A geometrical grasp selection algorithm, based on the notion of form closure is presented and shown to have good properties. A method for analyzing grasps is presented and a method for determining finger torques and verifying grasps against task induced stability requirements is described. An algorithm to implement path planning to drive the hand to a grasp configuration while avoiding finger self-collision is presented. these capabilities are combined to provide a complete description of the grasping process. In addition, a description of the hardware and software architecture built to support the MDH is provided.en_US
dc.format.extent3848665 bytes
dc.format.mimetypeapplication/pdf
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; MS 1992-11en_US
dc.subjectkinematicsen_US
dc.subjectroboticsen_US
dc.subjectstabilityen_US
dc.subjectIntelligent Servomechanismsen_US
dc.titleAnalysis of Robotic Grasp with Application to the Modular Dextrous Handen_US
dc.typeThesisen_US
dc.contributor.departmentISRen_US


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