Synthesizing grasp configurations with specified contact regions
Cita com:
hdl:2117/13058
Tipus de documentArticle
Data publicació2011
Condicions d'accésAccés obert
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
This paper presents a new method to solve the
configuration problem on robotic hands:deter-
mine how a hand should be configured so as to
grasp a given object in a specific way, characterized by a number of hand-object contacts to be satisfied. In contrast to previous algorithms given for the same purpose, the one presented here allows
specifing such contacts between free-form regions on the hand and object surfaces, and always returns a solution whenever one exists. The method is based on formulating the problem as a system of polynomial equations of special form, and then
exploiting this form to isolate the solutions, using a numerical technique based on linear relaxations. The approach is general, in the sense that it can be applied to any grasping mechanism involving lower-pair joints, and it can accommodate as many hand-object contacts as required. Experi-
ments are included that illustrate the performance of the method in the particular case of the Schunk Anthropomorphic hand.
CitacióRosales, C. [et al.]. Synthesizing grasp configurations with specified contact regions. "International journal of robotics research", 2011, vol. 30, núm. 4, p. 431-443.
ISSN0278-3649
Versió de l'editorhttp://dx.doi.org/10.1177/0278364910370218
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