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Frictionless grasp with 7 fingers on discretized 3D objects
Roa Garzón, Máximo; Suárez Feijóo, Raúl
Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
This paper presents an algorithm to plain locally frictionless grasp on 3D objects. The objects can be of any arbitrary shape, since the surface is discretized in a cloud of points. The planning algorithm finds an initial force-closure grasp that is iteratively improved through an oriented search procedure. The grasp quality is measured with the “largest ball” criterion, and a force-closure test based on geometric considerations is used. The efficiency of the algorithm is illustrated through numerical examples
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Grasp planning
Frictionless grasp
Attribution-NonCommercial-NoDerivs 2.5 Spain

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