朝向任务导向的协调操作

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI:10.1109/IROS.1993.583852

A. Back, D. Rus

{"title":"朝向任务导向的协调操作","authors":"A. Back, D. Rus","doi":"10.1109/IROS.1993.583852","DOIUrl":null,"url":null,"abstract":"The authors analyze the feasibility of the finger tracking paradigm for multi-finger manipulation introduced by D. Rus (1992) and relate it to task-directed programming issues. By using the geometry of singularities that arise in solving the instantaneous motion problem they are able to characterize regions of feasibility associated with an initial grasp and quantify how much reorientation is possible starting from this grasp. This results in a provably correct global strategy for reorientation.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Towards task-directed coordinated manipulation\",\"authors\":\"A. Back, D. Rus\",\"doi\":\"10.1109/IROS.1993.583852\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The authors analyze the feasibility of the finger tracking paradigm for multi-finger manipulation introduced by D. Rus (1992) and relate it to task-directed programming issues. By using the geometry of singularities that arise in solving the instantaneous motion problem they are able to characterize regions of feasibility associated with an initial grasp and quantify how much reorientation is possible starting from this grasp. This results in a provably correct global strategy for reorientation.\",\"PeriodicalId\":299306,\"journal\":{\"name\":\"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1993-07-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.1993.583852\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1993.583852","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 2

摘要

作者分析了D. Rus(1992)引入的多指操作手指跟踪范式的可行性，并将其与任务导向编程问题联系起来。通过使用在解决瞬时运动问题时出现的奇点几何，他们能够描述与初始把握相关的可行性区域，并量化从这个把握开始的重新定向的可能性。这就产生了一个可证明是正确的全球重新定位战略。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Towards task-directed coordinated manipulation

The authors analyze the feasibility of the finger tracking paradigm for multi-finger manipulation introduced by D. Rus (1992) and relate it to task-directed programming issues. By using the geometry of singularities that arise in solving the instantaneous motion problem they are able to characterize regions of feasibility associated with an initial grasp and quantify how much reorientation is possible starting from this grasp. This results in a provably correct global strategy for reorientation.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

自引率

0.00%

发文量