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Computation of independent contact regions for grasping 3-D objects
Roa Garzón, Máximo; Suárez Feijóo, Raúl
Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
Precision grasp synthesis has received a lot of attention in past few last years. However, real mechanical hands can hardly assure that the fingers will precisely touch the object at the computed contact points. The concept of independent contact regions (ICRs) was introduced to provide robustness to finger positioning errors during an object grasping: A finger contact anywhere inside each of these regions assures a force-closure grasp, despite the exact contact position. This paper presents an efficient algorithm to compute ICRs with any number of frictionless or frictional contacts on the surface of any 3-D object. The proposed approach generates the independent regions by growing them around the contact points of a given starting grasp. A two-phase approach is provided to find a locally optimal force-closure grasp that serves as the starting grasp, considering as grasp quality measure the largest perturbation wrench that the grasp can resist, independently of the perturbation direction. The proposed method can also be applied to compute ICRs when several contacts are fixed beforehand. The approach has been implemented, and application examples are included to illustrate its performance.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Robotics
Grasping
Independent contact regions
Manipulation planning
Multifingered hands
Prensión
Prensió
Regiones de contacto independientes
Regions de contacte independents
Planificación de la manipulación
Planificació de la manipulació
Manos con múltiples dedos
Mans amb múltiples dits
Robòtica
Classificació INSPEC::Cybernetics
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
Article
Institute of Electrical and Electronics Engineers (IEEE)
         

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