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http://hdl.handle.net/2117/2255
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| Títol: | Exploration of the grasp space using independent contact and non-graspable regions |
| Autor: | Roa Garzón, Máximo; Suárez Feijóo, Raúl  ; Rosell Gratacòs, Jan |
| Data: | abr-2008 |
| Tipus de document: | External research report |
| Resum: | 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 force-closure or non force-closure grasps, used to compute regions of the graspable or non-graspable space, respectively.
The method provides a reliable procedure for an efficient generation of the whole grasp space for n-finger grasps on discrete objects; two examples on 2D objects are provided to illustrate its performance. The approach has several applications in manipulation and regrasping of objects, as it provides a large number of force-closure and non force-closure grasps in a short time. |
| URI: | http://hdl.handle.net/2117/2255 |
| Apareix a les col·leccions: | Institut d'Organització i Control de Sistemes Industrials. Reports de recerca
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