파지 예비형상과 물체원형 정보를 활용한 세손가락 로봇손의 파지경로계획Grasp Planning for Three-Fingered Robot Hands using Taxonomy-Based Preformed Grasp and Object Primitives
- Other Titles
- Grasp Planning for Three-Fingered Robot Hands using Taxonomy-Based Preformed Grasp and Object Primitives
- Authors
- 정현환; 박종우; 정주노; 박종우
- Issue Date
- 2008
- Publisher
- 한국로봇학회
- Keywords
- Grasp planning; Grasp taxonomy; Object primitive; Preformed grasps.
- Citation
- 로봇학회 논문지, v.3, no.2, pp.123 - 130
- Journal Title
- 로봇학회 논문지
- Volume
- 3
- Number
- 2
- Start Page
- 123
- End Page
- 130
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/125129
- ISSN
- 1975-6291
- Abstract
- In this paper, we present a grasp planning method using grasp taxonomy and object
primitives. Our grasp taxonomy includes newly defined grasp methods such as thumb supported
pinch and palm supported pinch, to enhance grasp robustness. On the target surface, locations of
finger-print that will be contacted by the robot fingers are sampled. The sampling is made to be
consistent to the grasp taxonomy, called preformed grasps, matched to the target object. We perform
simulations to examine the validity and the efficacy of the proposed grasp planning method.
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Collections - Graduate School > Department of Control and Instrumentation Engineering > 1. Journal Articles
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