Now showing items 1-13 of 13

  • Computation of independent contact regions for grasping 3-D objects 

    Roa Garzón, Máximo; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2009-08)
    Article
    Open Access
    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 ...
  • Determination of independent contact regions on discretized 3D objects 

    Roa Garzón, Máximo; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers, 2007-07)
    Conference report
    Open Access
    This paper deals with the problem of determining independent contact regions on a 3D object boundary such that a seven finger frictionless grasp with a contact point in each region assures a force-closure grasp on the ...
  • Exploration of the grasp space using independent contact and non-graspable regions 

    Roa Garzón, Máximo; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (2008-04)
    External research report
    Open Access
    This report presents the use of independent contact and non-graspable regions to generate the grasp space for 2D and 3D discrete objects. The grasp space is constructed via a sampling method, which provides samples of ...
  • Frictionless grasp with 7 fingers on discretized 3D objects 

    Roa Garzón, Máximo; Suárez Feijóo, Raúl (2006-06)
    External research report
    Open Access
    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 ...
  • Geometrical approach for grasp synthesis on discretized 3D objects 

    Roa Garzón, Máximo; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers, 2007-11)
    Conference report
    Open Access
    Grasp synthesis on real 3D objects is a critical problem in grasp and manipulation planning. This paper presents a geometrical approach to compute force closure (FC) grasps, with or without friction and with any number of ...
  • Grasp quality measures 

    Suárez Feijóo, Raúl; Cornellà Medrano, Jordi; Roa Garzón, Máximo (2006-03)
    External research report
    Open Access
    The correct grasp of objects is a key aspect for the right fulfillment of a given task. In robotics, the development of grippers more and more complex and versatile, such as mechanical hands, augments the necessity for ...
  • Grasp quality measures: review and performance 

    Roa Garzón, Máximo; Suárez Feijóo, Raúl (2015-01-01)
    Article
    Open Access
    The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining a good grasp requires algorithms to automatically determine proper contact points on the object as well as proper hand ...
  • Grasp synthesis for 3D objects 

    Roa Garzón, Máximo; Suárez Feijóo, Raúl (2006-07)
    External research report
    Open Access
  • Independent contact regions for discretized 3D objects with frictionless contacts 

    Roa Garzón, Máximo; Suárez Feijóo, Raúl (2007-03)
    External research report
    Open Access
    This paper deals with the problem of determining independent contact regions on a 3D object boundary such that a seven finger frictionless grasp with a contact point in each region assures a force-closure grasp on the ...
  • Influence of Contact Types and Uncertainties in the Computation of Independent Contact Regions 

    Suárez Feijóo, Raúl; Roa Garzón, Máximo (2011)
    Conference report
    Open Access
    Independent Contact Regions provide robustness in front of finger positioning errors during an object grasping. However, different sources of uncertainty may be present like, for instance, the friction model used in ...
  • Regrasp planning for discrete objects 

    Roa Garzón, Máximo; Suárez Feijóo, Raúl (2009)
    Conference report
    Open Access
    This paper proposes an algorithm for regrasp planning of 2D and 3D discrete objects, such that the regrasp trajectory ensures a force-closure (FC) grasp while the regrasp motion is performed. The approach takes advantage ...
  • Regrasp planning in the grasp space using independent regions 

    Roa Garzón, Máximo; Suárez Feijóo, Raúl (2009)
    Conference report
    Open Access
    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 ...
  • SDK: A proposal of a general and efficient deterministic sampling sequence 

    Rosell Gratacòs, Jan; Roa Garzón, Máximo; Pérez, Alexander; García, Fernando (2007-03)
    External research report
    Open Access
    Previous works have already demonstrated that deterministic sampling can be competitive with respect to probabilistic sampling in sampling-based path planners. Nevertheless, the definition of a general sampling sequence ...