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Abstract : |
Abstract. Robotic hands are very flexible mechanisms. Because of this flexibility, it has been difficult to automate the process of acquiring objects using these robotic hands. Each new grasping problem is too complex to analyze without the use of good heuristics. Constraints due to target object geometry, environment geometry, hand kinematics and geometry, and a task description must all be considered when forming a solution. One tempting approach to this problem is to contain the flexibility of the robot hand by developing standard routines for grasping common objects. Standard grasping routines greatly reduce the complexity of the grasp synthesis problem, but these routines tend to go too far, becoming inflexible to variation in the target object and environment geometries. If the range of application of any given grasping routine is small, a reasonably sized library of routines will not cover an acceptable space of problem situations. This report describes one way in which standard grasping routines can be made more effective. A technique is developed for generalizing standard grasps and applying a generalized grasp description to new problem situations. The grasp generalization technique expands the range of application of a standard grasp to a wide variety of target object and environment geometries,, |
