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A Novel Analytical Method for Finger Position Regions on Grasped Object
Y. Yu, Y. Li, and S. Tsujio
Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent and Systems, October, 2001, pp. 937-942.

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Abstract

In this paper, an analytical approach is proposed for obtaining finger position regions of an object with multifingered hand. At first, a method to obtain which combination of the object edges is possible to be used for grasping, is given. Then, Graspable Finger Position Region on a combination of edges is defined where the object can be held successfully. It is shown that the region is bounded by plural boundary hyperplanes. With the combining these boundary hyperplanes, two propositions for exactly obtaining the Graspable Finger Position Region by using analytical method, are proposed. Lastly, numerical examples are performed to show the effectiveness of the proposed approach.

Notes

Number of pages: 6

Text Reference

Y. Yu, Y. Li, and S. Tsujio, "A Novel Analytical Method for Finger Position Regions on Grasped Object," Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent and Systems, October, 2001, pp. 937-942.

BibTeX Reference

@inproceedings{Yu_2001_4724,
   author = "Yong Yu and Ying Li and Showzow Tsujio",
   title = "A Novel Analytical Method for Finger Position Regions on Grasped Object",
   booktitle = "Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent and Systems",
   month = "October",
   year = "2001",
   pages = "937-942"
}