Automated Design of Manipulators for In-Hand Tasks

Christopher Hazard
Christopher Hazard

Humanoids, pp. 1-8, 2018.

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Abstract:

Grasp planning and motion synthesis for dexterous manipulation tasks are traditionally done given a preexisting kinematic model for the robotic hand. In this paper, we introduce a framework for automatically designing hand topologies best suited for manipulation tasks given high level objectives as input. Our goal is to create a pipeline ...More

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