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Cited by 666

The DOI matches its Crossref record; 24 of the 24 references it cites were found in a registry or an index.

Robot Grasp Synthesis Algorithms: A Survey

Shimoga, K.B.·1996·The International Journal of Robotics Research
DOI 10.1177/027836499601500302
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Abstract

This article presents a survey of the existing computational algorithms meant for achieving four important properties in autonomous multifingered robotic hands. The four properties are: dexterity, equilibrium, stability, and dynamic behavior The multifingered robotic hands must be controlled so as to possess these properties and hence be able to autonomously perform complex tasks in a way similar to human hands. Existing algorithms to achieve dexterity primarily involve solving an unconstrained linear programming problem where an objective function can be chosen to represent one or more of the currently known dexterity measures. Algorithms to achieve equilibrium also constitute solving a linear program ming problem wherein the positivity, friction, and joint torque constraints of all fingers are accounted for while optimizing the internal grasping forces. Stability algorithms aim at achiev ing positive definite grasp impedance matrices by solving for the required fingertip impedances. This problem reduces to a nonlinear programming problem. Dynamic behavior algorithms determine fingertip impedances, which, when achieved, lead to a desired dynamic behavior. This problem, too, becomes a linear programming problem. If a robotic hand has to acquire any or all of these proper ties, the corresponding algorithms should become integral parts of the hand control system. These algorithms are collectively referred to in this article as robot grasp synthesis algorithms.

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Metadata

Authors
Shimoga, K. B.
Venue
The International Journal of Robotics Research
Publisher
SAGE Publications
Published
1996-06
Volume
15
Issue
3
Pages
230-266
ISSN
  • 0278-3649 (ISSN-L)
  • 1741-3176
DOI
10.1177/027836499601500302
OpenAlex
W1978580730
Cited by
666
References
24
FWCI
24.40
Type
journal article
Language
en
Open access
closed
Licence
journals.sagepub.com/page/policies/text-and-data-mining-license (tdm)

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Shimoga, K. B. (1996). Robot Grasp Synthesis Algorithms: A Survey. The International Journal of Robotics Research. https://doi.org/10.1177/027836499601500302

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