Scale-Dependent Grasp

IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans Volume 30 Issue 6 Page 806-816 published_at 2000
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Title ( eng )
Scale-Dependent Grasp
Creator
Kaneko Makoto
Shirai Tatsuya
Source Title
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans
Volume 30
Issue 6
Start Page 806
End Page 816
Abstract
This paper discusses the scale-dependent grasp.Suppose that a human approaches an object initially placed on atable and finally achieves an enveloping grasp. Under such initialand final conditions, he (or she) unconsciously changes the graspstrategy according to the size of objects, even though they havesimilar geometry. We call the grasp planning the scale-dependentgrasp. We find that grasp patterns are also changed according tothe surface friction and the geometry of cross section in additionto the scale of object. Focusing on column objects, we first classifythe grasp patterns and extract the essential motions so that we canconstruct grasp strategies applicable to multifingered robot hands.The grasp strategies constructed for robot hands are verified byexperiments. We also consider how a robot hand can recognizethe failure mode and how it can switch from one to another.
Keywords
Grasping strategy
multifingered robot hand
scale-dependent grasp
NDC
Mechanical engineering [ 530 ]
Language
eng
Resource Type journal article
Publisher
IEEE
Date of Issued 2000
Rights
Copyright (c) 2000 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 1083-4427
[DOI] 10.1109/3468.895903
[DOI] http://dx.doi.org/10.1109/3468.895903 isVersionOf