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Título:
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Determining force-closure grasps reachable by a given hand
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Autor/a:
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Gilart, Fidel; Suárez Feijóo, Raúl
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Otros autores:
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Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
Abstract:
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The paper presents an approach to find contact points on an object surface that are reachable by a given hand and such that the resulting grasp satisfies the force-closure condition. This is a very common problem that still requires a practical solution. The proposed method is based on the
computation of a set of independent contact regions on the object boundary such that a finger contact on each region produces a force-closure grasp, and then this set of regions is iteratively recomputed while
looking for a set of contact points that are reachable by a given hand. The search is done guided by a cost function that indicates the proximity of the hand fingertips to a candidate set of grasping contact points. The approach has been implemented for the Schunk Anthropomorphic Hand and planar objects,and application examples are included to illustrate its performance. |
Materia(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robot hands -Mans mecàniques |
Derechos:
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Tipo de documento:
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Artículo - Versión publicada Objeto de conferencia |
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