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Pramath R. Sinha

dblp:00/4024 · DBLP profile ↗
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2ranked-venue papers
2as first author
0since 2021 · last 1992
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 first-authorSystems, architecture and hardware · 1 · 1 first-authorApplied, interdisciplinary, general and emerging computing · 1 · 1 first-author

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
2 papers
Robot manipulation · 100%

Topics — the 5 heaviest of 5, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Robot manipulation › grasping
multifingered grasping		 0.021992
A contact stress model for multifingered grasps of rough objects · IEEE Trans. Robotics Autom. 1992
A contact stress model for multifingered grasps of rough objects · ICRA 1990
Robotics › Robot manipulation
grasping		 0.011992
A contact stress model for multifingered grasps of rough objects · IEEE Trans. Robotics Autom. 1992
Robotics › Robot manipulation › grasping
grasp analysis		 0.011992
A contact stress model for multifingered grasps of rough objects · IEEE Trans. Robotics Autom. 1992
Robotics › Robot manipulation › manipulation mechanics
static equilibrium		 0.011992
A contact stress model for multifingered grasps of rough objects · IEEE Trans. Robotics Autom. 1992
Robotics › Robot manipulation › grasping › grasp analysis
grasp force analysis		 0.011990
A contact stress model for multifingered grasps of rough objects · ICRA 1990

Methods — techniques the papers use, named apart from their topics

nonlinear constrained minimization · 0.0friction modeling · 0.0contact stress analysis · 0.0elastic contact analysis · 0.0
YearPublicationVenuePosition
1992 A contact stress model for multifingered grasps of rough objects
abstract
A model that utilizes a contact-stress analysis of an arbitrarily shaped object in a multifingered grasp is developed. The fingers and the object are all treated as elastic bodies, and the region of contact is modeled as a deformable surface patch. The relationship between the friction and normal forces is now nonlocal and nonlinear in nature and departs from the Coulomb approximation. The nature of the constraints arising out of conditions for compatibility and static equilibrium motivated the formulation of the model as a nonlinear constrained minimization problem. The model is able to predict the magnitude of the inwardly directed normal forces and both the magnitude and direction of the tangential (friction) forces at each finger/object interface for grasped objects in static equilibrium. Examples in two and three dimensions are presented along with an application of the model to the grasp transfer maneuver.>
Pramath R. Sinha, Jacob M. Abel
 IEEE Trans. Robotics Autom.1
1990 A contact stress model for multifingered grasps of rough objects
abstract
The model developed utilizes a contact-stress analysis of an arbitrarily shaped object in a multifingered grasp. The fingers and the object are all treated as elastic bodies, and the region of contact is modeled as a deformable surface patch. The relationship between the friction and normal forces is nonlocal and nonlinear in nature and departs from the Coulomb approximation. The nature of the constraints arising out of conditions for compatibility and static equilibrium motivated the formulation of the model as a nonlinear constrained minimization problem. The model is able to predict the magnitude of the inwardly directed normal forces and both the magnitude and direction of the tangential (friction) forces at each finger-object interface for grasped objects in static equilibrium.>
Pramath R. Sinha, Jacob M. Abel
 ICRA1