Kinematic enveloping grasp planning method for robotic dexterous hands and three-dimensional objects
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
SUMMARY Three-dimensional (3D) enveloping grasps for dexterous robotic hands possess several advantages over other types of grasps. This paper describes a new method for kinematic 3D enveloping grasp planning. A new idea for grading the 3D grasp search domain for a given object is proposed. The grading method analyzes the curvature pattern and effective diameter of the object, and grades object regions according to their suitability for grasping. A new approach is also proposed for modeling the fingers of the dexterous hand. The grasp planning method is demonstrated for a three-fingered, six degrees-of-freedom, dexterous hand and several 3D objects containing both convex and concave surface patches. Human-like high-quality grasps are generated in less than 20 s per object.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it