Title:
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Regrasp planning in the grasp space using independent regions
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Author:
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Roa Garzón, Máximo; Suárez Feijóo, Raúl
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Other authors:
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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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This paper presents an approach for quasi-static regrasp planning using n fingers, taking advantage of a method that quickly explores the grasp space for discrete objects. The approach relies on a sampling method, which provides samples of force-closure or non force-closure grasps used to compute regions of the graspable or non-graspable space, respectively. The regrasp contact points generated assure that a force-closure grasp is always possible when performing the regrasp motions. Application examples are included to show the relevance of the results. |
Abstract:
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Peer Reviewed |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robotics -Robòtica -- Congressos -Classificació INSPEC::Automation::Robots |
Rights:
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Document type:
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Article - Published version Conference Object |
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