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On the synthesis of feasible and prehensile robotic grasps
dc.contributor.author | Rosales Gallegos, Carlos |
dc.contributor.author | Suárez Feijóo, Raúl |
dc.contributor.author | Gabiccini, Marco |
dc.contributor.author | Bicchi, Antonio |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.date.accessioned | 2012-11-13T07:43:53Z |
dc.date.available | 2015-03-25T08:10:32Z |
dc.date.created | 2012 |
dc.date.issued | 2012 |
dc.identifier.citation | Rosales, C. [et al.]. On the synthesis of feasible and prehensile robotic grasps. A: IEEE International Conference on Robotics and Automation. "Proceedings of the 2012 IEEE International Conference on Robotics and Automation". St. Paul - Minessota: IEEE, 2012, p. 550-556. |
dc.identifier.isbn | CFP12RAA-USB |
dc.identifier.uri | http://hdl.handle.net/2117/16900 |
dc.description.abstract | This work proposes a solution to the grasp synthesis problem, which consist of finding the best hand configuration to grasp a given object for a specific manipulation task while satisfying all the necessary constraints. This problem had been divided into sequential sub-problems, including contact region determination, hand inverse kinematics and force distribution, with the particular constraints of each step tackled independently. This may lead to unnecessary effort, such as when one of the problems has no solution given the output of the previous step as input. To overcome this issue, we present a kinestatic formulation of the grasp synthesis problem that introduces compliance both at the joints and the contacts. This provides a proper framework to synthesize a feasible and prehensile grasp by considering simultaneously the necessary grasping constraints, including contact reachability, object restraint, and force controllability. As a consequence, a solution of the proposed model results in a set of hand configurations that allows to execute the grasp using only a position controller. The approach is illustrated with experiments on a simple planar hand using two fingers and an anthropomorphic robotic hand using three fingers. |
dc.format.extent | 7 p. |
dc.language.iso | eng |
dc.publisher | IEEE |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robot hands |
dc.subject.other | manipulators robot kinematics robots paraules autor: grasping |
dc.subject.other | grasp synthesis |
dc.title | On the synthesis of feasible and prehensile robotic grasps |
dc.type | Conference report |
dc.subject.lemac | Mans mecàniques |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.identifier.doi | 10.1109/ICRA.2012.6225238 |
dc.relation.publisherversion | http://dx.doi.org/10.1109/ICRA.2012.6225238 |
dc.rights.access | Open Access |
local.identifier.drac | 11053450 |
dc.description.version | Postprint (author’s final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/FP7/248587/EU/The Hand Embodied/THE |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/FP7/270350/EU/Cognitive Robot for Automation of Logistic Processes/ROBLOG |
local.citation.author | Rosales, C.; Suarez, R.; Gabiccini, M.; Bicchi, A. |
local.citation.contributor | IEEE International Conference on Robotics and Automation |
local.citation.pubplace | St. Paul - Minessota |
local.citation.publicationName | Proceedings of the 2012 IEEE International Conference on Robotics and Automation |
local.citation.startingPage | 550 |
local.citation.endingPage | 556 |