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Synthesis of dextrous manipulation b...

Liu, Guanfeng.

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Synthesis of dextrous manipulation by multifingered robotic hands.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Synthesis of dextrous manipulation by multifingered robotic hands./
Author:	Liu, Guanfeng.
Description:	143 p.
Notes:	Source: Dissertation Abstracts International, Volume: 64-02, Section: B, page: 0876.
Contained By:	Dissertation Abstracts International64-02B.
Subject:	Engineering, Electronics and Electrical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3080180
ISBN:	0496280577

Synthesis of dextrous manipulation by multifingered robotic hands.
Liu, Guanfeng.

Synthesis of dextrous manipulation by multifingered robotic hands. - 143 p.

Source: Dissertation Abstracts International, Volume: 64-02, Section: B, page: 0876.

Thesis (Ph.D.)--Hong Kong University of Science and Technology (People's Republic of China), 2003.

Three most important problems in dextrous manipulation by multifingered robotic hands are the optimal grasp synthesis problem, real-time grasping force optimization problem, and coordinated manipulation with finger gaiting.

ISBN: 0496280577Subjects--Topical Terms:

626636
Engineering, Electronics and Electrical.

Synthesis of dextrous manipulation by multifingered robotic hands.
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100 1 $a Liu, Guanfeng. $3 1924975
245 1 0 $a Synthesis of dextrous manipulation by multifingered robotic hands.
300 $a 143 p.
500 $a Source: Dissertation Abstracts International, Volume: 64-02, Section: B, page: 0876.
500 $a Supervisor: Zexiang Li.
502 $a Thesis (Ph.D.)--Hong Kong University of Science and Technology (People's Republic of China), 2003.
520 $a Three most important problems in dextrous manipulation by multifingered robotic hands are the optimal grasp synthesis problem, real-time grasping force optimization problem, and coordinated manipulation with finger gaiting.
520 $a (a) Optimal grasp synthesis problem. Given an arbitrary object and the corresponding friction models, plan a set of contacts for the hand such that the grasp is force closure if such grasp exists. Moreover it is optimal in some sense. Traditional heuristic approaches, although being successfully applied to several classical manipulation examples, encounter difficulties in systems with more than 2 fingers and complex object geometries. In Chapter 3, we introduce several candidate grasp quality functions and formulate the grasp synthesis problem as a Max-transfer, a Max-normal-grasping-force, and a Min-analytic-center problem. (b) Real-time grasping force optimization problem. Given a set of contact points of the hand, the external wrench, and the corresponding friction models, determine an optimal grasping force in real-time with respect to a given objective function. In Chapter 4, we formulate the grasping force optimization as a convex optimization problem on the Riemannian manifold of positive definite matrices subject to linear constraints, for which five algorithms are developed and their respective step size selection are discussed in detail. (c) Coordinated manipulation with finger gaiting. Given a periodic motion of the object, the geometry of the object and fingers, and the workspaces of fingers of the hand, determine if finger gaits are necessary. If that, how to plan a sequence of discrete events (fingers make or break contacts with the object) as well as the trajectories of fingers and contacts between any two events such that (1) all finger trajectories are contained in their respective workspaces; (2) at any time, whatever number of fingers are in contact with objects, the respective grasp keeps force closure. In Chapter 5, we give some preliminary results on this problem. We first use stratified configuration spaces to model the manipulation system with finger gaiting. Then, for a given gait and a periodic motion of the object, we construct two behavior basis for each finger of the hand corresponding to the contact and non-contact states. (Abstract shortened by UMI.)
590 $a School code: 1223.
650 4 $a Engineering, Electronics and Electrical. $3 626636
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Applied Mechanics. $3 1018410
650 4 $a Artificial Intelligence. $3 769149
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690 $a 0800
710 2 0 $a Hong Kong University of Science and Technology (People's Republic of China). $3 1249812
773 0 $t Dissertation Abstracts International $g 64-02B.
790 1 0 $a Li, Zexiang, $e advisor
790 $a 1223
791 $a Ph.D.
792 $a 2003
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3080180