Loading...
Please wait, while we are loading the content...
Similar Documents
GraspIt!: A Versatile Simulator for Grasp Analysis (2000)
| Content Provider | CiteSeerX |
|---|---|
| Author | Miller, Andrew T. Allen, Peter K. |
| Abstract | In an earlier paper [10] we presented a method for computing grasp quality that uses kinematic and geometric models of actual robotic hands to locate contacts for a particular grasp configuration rather than assuming the contact set is given. Building upon this earlier work, we have created a unique grasp analysis tool that allows a user to create and analyze grasps of any given 3D object model with any given articulated hand model. The grasps can be performed either automatically, where the system closes the fingers around the object at preset velocities, or manually through direct manipulation of the joints. As collisions occur between the links of the fingers and the object, the system locates the contacts and analyzes the evolving grasp on the fly. Each time the grasp changes, the system updates two numeric measures of quality and recomputes 3D projections of the grasp wrench space which are useful when visualizing a grasp's capabilities. We provide examples of the system being use... |
| File Format | |
| Journal | PROC. OF THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION |
| Publisher Date | 2000-01-01 |
| Access Restriction | Open |
| Subject Keyword | Contact Set Grasp Quality Grasp Analysis Grasp Change Versatile Simulator Unique Grasp Analysis Tool Preset Velocity Object Model Geometric Model Articulated Hand Model Grasp Wrench Space Actual Robotic Hand Particular Grasp Configuration Numeric Measure Direct Manipulation |
| Content Type | Text |
