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Clock-turning gait synthesis for humanoid robots

โœ Scribed by Zhe Tang; Zengqi Sun; Hongbo Liu; Meng Joo Er

Publisher
South China University of Technology and Academy of Mathematics and Systems Science, CAS
Year
2007
Tongue
English
Weight
252 KB
Volume
5
Category
Article
ISSN
1672-6340

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This paper addresses a real-time grasp synthesis of multi-fingered robot hands to find grasp configurations which satisfy the force closure condition of arbitrary shaped objects. We propose a fast and efficient grasp synthesis algorithm for planar polygonal objects, which yields the contact location