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Frictionless grasp with 7 fingers on discretized 3D objects

dc.contributor.authorRoa Garzón, Máximo
dc.contributor.authorSuárez Feijóo, Raúl
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.date.accessioned2006-07-04T13:18:47Z
dc.date.available2006-07-04T13:18:47Z
dc.date.issued2006-06
dc.identifier.urihttp://hdl.handle.net/2117/415
dc.description.abstractThis paper presents an algorithm to plain locally frictionless grasp on 3D objects. The objects can be of any arbitrary shape, since the surface is discretized in a cloud of points. The planning algorithm finds an initial force-closure grasp that is iteratively improved through an oriented search procedure. The grasp quality is measured with the “largest ball” criterion, and a force-closure test based on geometric considerations is used. The efficiency of the algorithm is illustrated through numerical examples
dc.format.extent13
dc.language.isoeng
dc.relation.ispartofseriesIOC-DT-P
dc.relation.ispartofseries2006-19
dc.rightsAttribution-NonCommercial-NoDerivs 2.5 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/2.5/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject.otherGrasp planning
dc.subject.otherFrictionless grasp
dc.titleFrictionless grasp with 7 fingers on discretized 3D objects
dc.typeExternal research report
dc.rights.accessOpen Access
dc.relation.projectidcttCICYT DPI2004-03104
dc.relation.projectidcttCICYT DPI2005-00112
local.personalitzacitaciotrue


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