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- W2099974585 abstract "Dexterous grasps for multifingered robot hands are planned. A real-time, joint space finger path planning algorithm is derived for the enclosure phase of grasping motion. The algorithm minimizes the impact momentum of the hand. It uses a preshape Jacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master-slave scheme avoids inter-finger collisions and reduces the dimensionality of the planning problem. >" @default.
- W2099974585 created "2016-06-24" @default.
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- W2099974585 date "2003-01-13" @default.
- W2099974585 modified "2023-09-26" @default.
- W2099974585 title "Preshape Jacobians for minimum momentum grasping" @default.
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- W2099974585 doi "https://doi.org/10.1109/icsmc.1989.71401" @default.
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