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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Chen, I.-M. Burdick, J.W. |
| Copyright Year | 1992 |
| Description | Author affiliation: Sch. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA (Chen, I.-M.; Burdick, J.W.) |
| Abstract | The authors consider two-finger antipodal point grasping of arbitrarily shaped 2D and 3D objects. An object function which maps a finger contact space to the object surface is introduced. Conditions are developed to identify the feasible grasping region F in the finger contact space. A grasping energy function E is introduced which is proportional to the distance between two grasping points. The antipodal points correspond to critical points of E at F. Optimization and/or continuation techniques are used to find these critical points. In particular, global optimization techniques are applied to find the maximal grasp. Modeling techniques for representing 2D and 3D objects using B-spline curves and spherical product surfaces are described. |
| Starting Page | 2278 |
| Ending Page | 2283 |
| File Size | 481754 |
| Page Count | 6 |
| File Format | |
| ISBN | 0818627204 |
| DOI | 10.1109/ROBOT.1992.219920 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1992-05-12 |
| Publisher Place | France |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Fingers Space technology Spline Clocks Friction Counting circuits |
| Content Type | Text |
| Resource Type | Article |
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