| Autor: |
Kaneko, Makoto, Imamura, Nobuaki, Honkawa, Kazunobu |
| Zdroj: |
Advanced Robotics; January 1994, Vol. 9 Issue: 5 p519-533, 15p |
| Abstrakt: |
This paper addresses the problem of detecting contact points between link elements and an object for inner link based grasps by assuming that the object has no compliance and does not move during sensing motions. The problem is separated into two steps, i.e. the approach phase and the detection phase. In the approach phase, the link system is fully opened and approaches the object until it completely wraps the object. In the detection phase, an active sensing scheme to detect all contact points simultaneously is newly presented. Several experimental approaches are also performed to verify the key idea of the proposed scheme. |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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