| タイトル | Model-based automatic generation of grasping regions |
| 本文（外部サイト） | http://hdl.handle.net/2060/19940017077 |
| 著者（英） | Bloss, David A. |
| 著者所属（英） | NASA Johnson Space Center |
| 発行日 | 1993-12-01 |
| 言語 | eng |
| 内容記述 | The problem of automatically generating stable regions for a robotic end effector on a target object, given a model of the end effector and the object is discussed. In order to generate grasping regions, an initial valid grasp transformation from the end effector to the object is obtained based on form closure requirements, and appropriate rotational and translational symmetries are associated with that transformation in order to construct a valid, continuous grasping region. The main result of this algorithm is a list of specific, valid grasp transformations of the end effector to the target object, and the appropriate combinations of translational and rotational symmetries associated with each specific transformation in order to produce a continuous grasp region. |
| NASA分類 | CYBERNETICS |
| レポートNO | 94N21550
NASA-TM-104785
S-745
NAS 1.15:104785 |
| 権利 | No Copyright |
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