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dc.contributor.authorStarețu, Ionel
dc.date.accessioned2017-11-09T10:09:36Z
dc.date.available2017-11-09T10:09:36Z
dc.date.issued2007
dc.identifier.issn1224-5615
dc.identifier.urihttp://10.11.10.50/xmlui/handle/123456789/4770
dc.descriptionThe Annals of ''Dunarea de Jos'' University of Galati : Fascicle XIV MECHANICAL ENGINEERING, ISSN 1224 - 5615ro_RO
dc.description.abstractThe research conducted in human grasping have emphasized three main phases: the visual location of the target, when the object is analyzed an recognized, the reaching phase of grasping, when the hand preshapes in order to prepare the “shape matching” with the object to grasp, and the third which is the grasping phase. This paper addresses the problem of developing a method that deals with the preshaping phase of grasping and for that we present an indirect approach. For that it is used an image processing algorithm for reconstructing the object that will be grasped and a VR based grasping simulator for validating the stability of the grasp. The result represents a strategy (preshaping and finger trajectories), needed for grasping the object with a real gripper. An evaluation study was conducted investigating the time needed to grasp an object using the presented approach compared with other methods for generating a grasping strategy. The results have shown a significant improvement regarding the time needed for grasping operations on a real gripper.ro_RO
dc.language.isoenro_RO
dc.publisherUniversitatea "Dunărea de Jos" din Galațiro_RO
dc.subjectgrasping operationsro_RO
dc.subjectconducted investigatingro_RO
dc.subjectgrasping simulatorro_RO
dc.subjectdevelopingro_RO
dc.subjectgrasping phasero_RO
dc.subjecthuman graspingro_RO
dc.titleDextrous Hand-Grasping Preshapingro_RO
dc.typeArticlero_RO


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