NDLI: Planning dextrous operations using physical models

Content Provider	IEEE Xplore Digital Library
Author	Joukhadar, A. Bard, C. Laugier, C.
Copyright Year	1994
Description	Author affiliation: LIFIA-INRIA, Grenoble, France (Joukhadar, A.; Bard, C.; Laugier, C.)
Abstract	Planning robust grasping operations involving a dextrous robotics hand and an object located in a three dimensional workspace requires the combination of two main types of techniques, a geometric reasoning technique aimed at producing a grasping strategy (preshape of the hand, grasping parameters, type of motion to execute), and a physically based technique, allowing the analysis of the dynamic object/hand interactions. The paper focuses on the second type of technique which is clearly required to conclude on the feasibility of the chosen grasping strategy (stability in particular) and to determine the execution parameters of the selected grasp (type of control to apply onto the hand in particular). The purpose of the paper is to propose a new technique based upon the concept of "physical models" for solving this problem. The authors show how physical models can be constructed and used to solve the associated stability and control strategy problems. The authors also show how the related techniques have been combined with more classical geometric methods to solve the whole problem.
Starting Page	748
Ending Page	753
File Size	694212
Page Count	6
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.351398
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Grasping Robots Fingers Stability Friction Motion planning Strategic planning Motion analysis Solid modeling Robustness
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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