PublisherInstitute of Electrical and Electronics Engineers
Rights accessOpen 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 fingers. The object’s surface is discretized in a cloud of points, so the algorithm is applicable to objects of any arbitrary shape. One or more FC grasps are obtained with a geometrical approach, which embeds the FC test in the algorithm to simplify achieving the force-closure property. This initial FC grasp may be improved with a complementary optimization algorithm. The grasp quality is measured considering the largest perturbation wrench that the grasp can resist with independence of the perturbation direction. The efficiency of both algorithms is illustrated through numerical examples.
CitationRoa Garzón, M.; Suárez Feijoo, R. Geometrical approach for grasp synthesis on discretized 3D objects. A: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems: IROS 07. [Piscataway, NJ]: Institute of Electrical and Electronics Engineers, 2007, p. 3283-3288.
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder. If you wish to make any use of the work not provided for in the law, please contact: email@example.com