In this paper, an analytical approach is proposed for planning finger positions of an object with multifingered hand. At first, a method is given to obtain which combination of th...
This paper describes the innovative use of genetic programming (GP) to solve the grasp synthesis problem for multifingered robot hands. The goal of our algorithm is to select a Ò...
This paper describes the innovative use of a genetic algorithm to solve the grasp synthesis problem for multifingered robot hands. The goal of our algorithm is to select a `best...
Many practical dextrous manipulation tasks involve large-scale motion of the grasped object while maintaining a stable grasp. To plan such tasks, one must control both the motion ...
We consider the problem of grasping novel objects in cluttered environments. If a full 3-d model of the scene were available, one could use the model to estimate the stability and...