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Real time gait generation for autonomous humanoid robots: A case study for walking

✍ Scribed by Genci Capi; Yasuo Nasu; Leonard Barolli; Kazuhitsa Mitobe

Book ID
108467514
Publisher
Elsevier Science
Year
2003
Tongue
English
Weight
436 KB
Volume
42
Category
Article
ISSN
0921-8890

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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