Regrasps by a multifingered hand based on primitives
Regrasps by a multifingered hand based on primitives
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基于基元的多指手重新抓取
DOI：
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发表时间：
1996
期刊：
影响因子：
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通讯作者：
Mohammad Asim Farooqi
中科院分区：
文献类型：
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作者：
T. Omata;Mohammad Asim Farooqi
本文研究了多指手的重握，通过使用重握基元来实现物体的期望重定向。其中之一是枢转，其中两个手指抓住一个物体，其指尖形成一个旋转轴，第三个手指围绕该轴旋转物体。本文提出了一种算法，用于计算的第三个手指可以旋转的对象在给定的角度轴的区域。当与其他图元一起使用时，旋转也可以有效地实现对象的三维重定向。本文还讨论了如何顺序执行原语实现三维重定向。
This paper studies regrasping by a multifingered hand to achieve a desired reorientation of an object by using regrasp primitives. Among them is pivoting in which two fingers grasp an object with their fingertips forming an axis of rotation and the third finger rotates the object about this axis. This paper presents an algorithm for calculating the region for the axis for which the third finger can rotate the object at given angles. Pivoting is also efficient to achieve three dimensional reorientation of an object when it is used together with other primitives. This paper also discusses how sequential executions of primitives achieve three dimensional reorientation.