Exploració per autor "Cornellà Medrano, Jordi"
Ara es mostren els items 1-5 de 5
-
Efficient determination of four-point form-closure optimal constraints of polygonal objects
Cornellà Medrano, Jordi; Suárez Feijóo, Raúl (2009-01)
Article
Accés obertThis paper proposes a new and more efficient solution to the problem of determining optimal form-closure constraints of polygonal objects using four contacts. New grasp parameters are determined based only on the directions ... -
Fast and flexible determination of force-closure independent regions to grasp polygonal objects
Cornellà Medrano, Jordi; Suárez Feijóo, Raúl (2005-01)
Report de recerca
Accés obertForce-closure independent regions are parts of the object edges such that a grasp with a finger in each region ensures a force-closure grasp. These regions are useful to provide some robustness to the grasp in the presence ... -
Grasp quality measures
Suárez Feijóo, Raúl; Cornellà Medrano, Jordi; Roa Garzón, Máximo (2006-03)
Report de recerca
Accés obertThe 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 ... -
Grasping force optimization using dual methods
Cornellà Medrano, Jordi; Suárez Feijóo, Raúl (Institut d'Organització i Control de Sistemes Industrials, 2005-11)
Report de recerca
Accés obertOne of the basic requirements in grasping and manipulation of objects is the determination of a suitable set of grasping forces such that the external forces and torques applied on the object are balanced and the object ... -
Synthesis of 4-frictionless optimal grasp of polygonal objects
Cornellà Medrano, Jordi; Suárez Feijóo, Raúl (2006-06)
Report de recerca
Accés obertThe paper proposes a new approach to the problem of determining optimal form-closure grasps of polygonal objects using four frictionless contacts. A new set of grasp parameters is determined based only on the directions ...