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A topological algorithm for continuous grasp planning

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2 Author(s)
Nguyen, T.N. ; George Mason Univ., Fairfax, VA, USA ; Stephanou, H.E.

Consideration is given to the planning of multifingered dexterous grasps to meet the physical constraints of some anticipated action. Most of the existing dexterous grasp planning schemes operate on a finite and discrete set of grasps. Such a discrete set obviously hinders the applicability of grasp planning schemes to complex and versatile task requirements. A description is given of a hierarchy of topological and geometrical spaces representing the set of grasps, and a topological algorithm is proposed for the planning of continuous grasps using computational techniques drawn from point-set, combinatorial, and algebraic topology. The topological algorithm is illustrated by a pinch grasp example using a stick model of a four-fingered hand

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990

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