Cart (Loading....) | Create Account
Close category search window
 

A topological algorithm for continuous grasp planning

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.