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Monday, May 18, 2020 | History

4 edition of On the stability of grasping: three fingers and a planar polygon. found in the catalog.

On the stability of grasping: three fingers and a planar polygon.

by C. Marc Bastuscheck

  • 398 Want to read
  • 28 Currently reading

Published by Courant Institute of Mathematical Sciences, New York University in New York .
Written in English


Edition Notes

SeriesRobotics report -- 98
The Physical Object
Pagination12 p.
Number of Pages12
ID Numbers
Open LibraryOL17977508M

was another weak year in the art-book market, even weaker than the year before. As usual, your best bet was probably the latest in a long-running Best of the Year series for fantastic art, Spectrum The Best in Contemporary Fantastic Art (Underwood Books), edited by Cathy Fenner and Arnie Fenner. Technical Program for Wednesday To show or hide the keywords and abstract of a paper (if available), click on the paper title Open all abstracts Close all abstracts.

  This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR conference. → Neodictionary Neodictionary. Word Poker Solver or Solve Three Letters. A. ace act add aft age ago aid ail aim air ale all alm amp and ant any ape apt arc are arf ark arm art ash ask asl ate atm ats aux avi awe awk awn axe aye. B. bad bag bah bam ban bar bat bay bed bee beg bet bib bid big bin bio bit blt blu boa bob bog boo bop bot.

Tetsuyoh Watanabe, Tsuneo Yoshikawa: Optimization of grasping by using a required external force set. ; Eris Chinellato, Robert B. Fisher, Antonio Morales, Angel P. Del Pobil: Ranking planar grasp configurations for a three-finger hand. ; Lionel Birglen, Clément Gosselin: On the force capability of underactuated fingers.   Abell, T, Erdmann, MA () Stably supported rotations of a planar polygon with two frictionless contacts. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ), Pittsburgh, PA, 5–9 August , pp. – Cited by:


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On the stability of grasping: three fingers and a planar polygon by C. Marc Bastuscheck Download PDF EPUB FB2

Stability of grasping., 18(9) The analysis developed in this paper is shown to lead to a hand with three fingers, each with three turning joints, and having friction contacts with an object at. Caging Polygons with Two and Three Fingers.

we report all placements of the third finger so that the three fingers jointly cage the polygon. Using the fact that the boundary of the set of. CONCLUSIONS In this paper, we dealt with the stability analysis of an object grasped by fingers with linear stiffness in the case where the gravity effect is considered.

The analysis problem was formulated as finding a condition of the stiffness parameters and contact points for the position of the COG to exist such that the grasp is by: 1.

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Free shipping and pickup in store on eligible orders. Obviously, in the case of planar grasps, the area of the grasp polygon is considered. an analysis of the grasp stability, the computational complexity, and the comparison with other methods are proposed. In both cases, two of the three fingers tend to be close to the center of mass, favoring the compensation of gravitational by: Control Theory of Multi-fingered Hands: A Modelling and Analytical-Mechanics Approach for Dexterity and Intelligence Suguru Arimoto (auth.) The hand is an agency of the brain; it reflects activities of the brain and thereby can be seen as a mirror to the mind.

Multi-finger grasps are mechanically redundant: the variables immediately controlled by the performer (forces and moments at the fingertips and fingertip displacements) outnumber the degrees of freedom of a solid object, maximally 6 (three force and three moment components in statics, and three linear and three angular displacements in kinematics).Cited by: Abstract.

This paper addresses the planning of robot finger motions to enable continuous and stable reorientation of grasped objects. With a given grasp on an object, the range of reorientation through which the fingers may move the object is limited by the workspace of the fingers and grasp by: () Inscribing an axially symmetric polygon and other approximation algorithms for planar convex sets.

Computational Geometry() SOME LOWER BOUNDS ON GEOMETRIC SEPARABILITY by: In this comprehensive textbook about robot grasping, readers will discover an integrated look at the major concepts and technical results in robot grasp mechanics. A large body of prior research, including key theories, graphical techniques, and insights on robot hand designs, is organized into a systematic review, using common notation and a.

The purpose of such devices is often manifold, and it typically includes grasping and fine manipulation of objects in an accurate, delicate yet firm way. We survey the state-of-the-art reached by scientific research and literature about the problems engendered by these often conflicting requirements, and the work that has been done in this area Cited by: Enumerating the Parallel Multiverses The idea here is that there are parallel Great Wheels out there, all different than the others.

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three repetitions in flexion-extension (F-E) and abduction-adduction (Abd-Add) of the MCP joints from the index finger to the little finger. Three mm diameter markers were fixed on each proximal phalanx, and six 6 mm diameter markers were fixed on metacarpals (figure).File Size: 35MB. As stated in [3,4], the conditions for forming a planar force-closure grasp with two and three points are interpreted in geometric sense as below and illustrated in Figure 2: Two opposing fingers: A grasp by two point contacts, p 1 and p 2 with friction is in force-closure if Author: Amirhossein Jabalameli, Aman Behal.

The present invention is a multifunction carrying case that is capable of carrying a laptop computer and converting into a laptop stand. The height of the laptop stand is telescoping, allowing for use in different situations. The case-stand combination comprises a housing similar to a hard-sided briefcase.

The bottom compartment of the housing comprises a platform with a stand assembly beneath by: The proposed grasping and manipulation strategies with customized/general-purposed grippers are able to reduce hand-engineering in mass customization and extend dexterities of automation systems in both kinematic and dynamic levels.

The proposed learning assembly scheme increases the e ciency and stability of the assembly in contact-rich File Size: 26MB. The asymmetric development of the digits, the shapes of the articular surfaces and the robust claws on the first three digits (Santa-Luca, ; Norman et al., ) are reminiscent of the respective features of Plateosaurus.

This may indicate a similar use of the hand as a grasping organ in by: 6. For example, considering the end-effector to be the Cartesian tip of the robot (e.g., the location of a plotting pen) and ignoring orientations, the planar 2R open chain with links of equal length three (Figure (a)) and the planar 3R open (b)) have the same workspace chain with links of equal length two (Figure despite having different.

Three grasping quality measures are suggested - minimal muscle effort, minimum of the maximum applied finger forces, and minimizing an entropy-like function (which causes a uniform level of the contact forces). Subjects were asked to grip various objects, and. definition of - senses, usage, synonyms, thesaurus.

Online Dictionaries: Definition of Options|Tips Options|Tips.Figure (a) shows a three-link planar arm. Because all three joints are revolute, this manipulator is sometimes called an RRR (or 3R) mechanism.

Fig. (b) is a schematic representation of the same manipulator. Note the double hash marks 70 Chapter 3 Manipulator kinematics (a) (b) FIGURE A three-link planar arm.The Video Game Theory Reader 2 The Video Game Theory Reader 2 continues the exploration begun in the first Video Game Theory Reader (Routledge, ) with a group of leading scholars turning their attention to a wide variety of theoretical concerns and approaches, examining and raising new issues in the rapidly expand- ing field of video games studies.