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On Dexterous Rotations of Polygons

Author
Rus, Daniela
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.
Date Issued
1991-12Publisher
Cornell University
Subject
computer science; technical report
Previously Published As
http://techreports.library.cornell.edu:8081/Dienst/UI/1.0/Display/cul.cs/TR91-1258
Type
technical report