A Novel Analytical Method for Finger Position Regions on Grasped Object
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 937 - 942, October, 2001
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.
BibTeX
@conference{Yu-2001-8335,author = {Yong Yu and Ying Li and Showzow Tsujio},
title = {A Novel Analytical Method for Finger Position Regions on Grasped Object},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2001},
month = {October},
volume = {2},
pages = {937 - 942},
}
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