3619 Planning of Grasp/Non-Grasp Constraining of Objects by a Multifingered Robot Hand
The proceedings of the JSME annual meeting2008Vol. 2008.5(0), pp. 195–196
Abstract
This paper deals with the problem of planning hand configuration for grasp/non-grasp constraining of an object. In order to make a robot perform grasp and graspless manipulation by a multifingered hand, we need a planner to determine hand configuration applicable to both of them. We implement a new performance index on a grasp planner, GraspIt!, so that we can obtain appropriate hand configuration for grasp/non-grasp constraining of an object.
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