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Grasp stability and feasibility for an arm with an articulated hand

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2 Author(s)
Pollard, N.S. ; MIT Artificial Intelligence Lab., Cambridge, MA, USA ; Lozano-Perez, T.

A system for generating a stable, feasible grasp of a polyhedral object is presented. A set of contact points on the object that can result in a stable grasp is found, and a feasible grasp in which the robot contacts the object at those contact points is determined. The algorithm is designed for the Salisbury hand mounted on a Puma 560 arm, but a similar approach could be used to develop grasping systems for other robots. Simulations show that the system can generate a wide range of grasps in difficult situations

Published in:

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

Date of Conference:

13-18 May 1990

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