Concepts inDextrous manipulation from a grasping pose
Motion (physics)
In physics, motion is a change in position of an object with respect to time. Motion is typically described in terms of velocity, acceleration, displacement, and time. Motion is observed by attaching a frame of reference to a body and measuring its change in position relative to another reference frame. A body which does not move is said to be at rest, motionless, immobile, stationary, or to have constant position.
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Force
In physics, a force is any influence that causes an object to undergo a certain change, either concerning its movement, direction, or geometrical construction. In other words, a force is that which can cause an object with mass to change its velocity (which includes to begin moving from a state of rest), i.e. , to accelerate, or which can cause a flexible object to deform. Force can also be described by intuitive concepts such as a push or pull.
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Optimization problem
In mathematics and computer science, an optimization problem is the problem of finding the best solution from all feasible solutions. Optimization problems can be divided into two categories depending on whether the variables are continuous or discrete. An optimization problem with discrete variables is known as a combinatorial optimization problem.
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Mathematical optimization
In mathematics, computer science, or management science, mathematical optimization (alternatively, optimization or mathematical programming) refers to the selection of a best element from some set of available alternatives. In the simplest case, an optimization problem consists of maximizing or minimizing a real function by systematically choosing input values from within an allowed set and computing the value of the function.
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Hand
A hand is a prehensile, multi-fingered extremity located at the end of an arm or forelimb of primates such as humans, chimpanzees, monkeys, and lemurs. A few other vertebrates such as the koala (which has two opposable thumbs on each "hand" and fingerprints remarkably similar to human fingerprints) are often described as having either "hands" or "paws" on their front limbs.
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Joint
A joint is the location at which two or more bones make contact. They are constructed to allow movement (except for skull bones) and provide mechanical support, and are classified structurally and functionally.
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Contact force
In physics, a contact force is a force that acts at the point of contact between two objects, in contrast to body forces. Contact forces are described by Newton's laws of motion, as with all other forces in dynamics. Contact forces are ubiquitous and are responsible for most visible interactions between macroscopic collections of matter. Pushing a car up a hill or kicking a ball are some of the everyday examples where contact forces are at work.
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