NDLI: Stratified motion planning with application to robotic finger gaiting

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Stratified motion planning with application to robotic finger gaiting

Content Provider	Semantic Scholar
Author	Goodwine, Bill Burdick, Joel W.
Copyright Year	1999
Abstract	Abstract This paper presents a general, nonholonomic dextrous manipulation and finger gaiting technique for robotic grasping problems. This method is general in that it is independent of the geometry of the grasped object and independent of the morphology of the manipulating hand. This method is based upon a nonholonomic motion planning method for smooth system that has been extended to a certain class of discontinuous systems by recognizing a particular generic geometric structure underlying robotic grasping problems, called a stratification which is a decomposition of the configuration space of the system into subsets which correspond to the various combinations of fingers contacting the object.
Starting Page	201
Ending Page	206
Page Count	6
File Format	PDF HTM / HTML
Volume Number	32
Alternate Webpage(s)	http://robotics.caltech.edu/papers/finger.gait.ifac.ps.gz
Alternate Webpage(s)	https://controls.ame.nd.edu/~bill/papers/1999/ifac99.pdf
Alternate Webpage(s)	http://controls.ame.nd.edu/~bill/papers/1999/ifac99.pdf
Alternate Webpage(s)	http://controls.ame.nd.edu/~bill/papers/ifac.pdf
Alternate Webpage(s)	http://robby.caltech.edu/papers/finger.gait.ifac.ps.gz
Alternate Webpage(s)	https://doi.org/10.1016/S1474-6670%2817%2956036-X
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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