Accession Number:

ADA250967

Title:

On Dexterous Rotations of Polygons

Descriptive Note:

Technical rept.,

Corporate Author:

CORNELL UNIV ITHACA NY DEPT OF COMPUTER SCIENCE

Personal Author(s):

Report Date:

1991-12-01

Pagination or Media Count:

27.0

Abstract:

Dexterous manipulation, which is the reorientation of objects inside robot hands, is an active area of robotics research, whose progress has been slow. In this paper we present an algorithm for dexterous rotations of polygons by finger tracking. The algorithm involves simple finger motions, it can achieve arbitrarily large rotations, and it is robust in the presence of computational uncertainties.

Subject Categories:

  • Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE