Software development in robotics is a complex task due to the existing heterogeneity in terms of hardware, communications, and programming languages that are used in current robotic systems. In this work a general environment ...

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 ...

The paper presents a tool to graphically display the contact forces applied by the fingers of a robotic hand when doing grasping and in-hand manipulation. The forces are computed in two ways, on one side, directly using ...

This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with n links considering frictionless contacts. The boundary of each link of the object is represented by a finite set ...

There is a lack of quality indexes to evaluate grasps that are more likely to allow a hand-to-hand transfer of an object during a ma- nipulation task. In order to overcome it, this paper presents a proposal of grasp transfer ...

This paper presents an algorithm to compute precision grasps for bulky objects using two anthropomorphic hands. We use objects modeled as point clouds obtained from a sensor camera or from ...

En este trabajo se presenta una herramienta de software que permite la visualización gráfica de fuerzas de contacto de especial utilidad en prensiones usando manos robóticas. Las fuerzas visualizadas se generan debido ...

In this article, the variety of approaches proposed in literature to address the problem of mapping human to robot hand motions are summarized and discussed. We particularly attempt to organize under macro-categories the ...

Sampling-based approaches are currently the most efficient ones to solve path planning problems, being their performance dependant on the ability to generate samples in those areas of the configuration space relevant to ...