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Regrasp planning for discrete objects
dc.contributor.author | Roa Garzón, Máximo |
dc.contributor.author | Suárez Feijóo, Raúl |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.date.accessioned | 2010-10-07T10:55:48Z |
dc.date.available | 2010-10-07T10:55:48Z |
dc.date.created | 2009 |
dc.date.issued | 2009 |
dc.identifier.citation | Roa, M.; Suárez, R. Regrasp planning for discrete objects. A: IEEE International Symposium on Assembly and Manufacturing. "2009 IEEE International Symposium on Assembly and Manufacturing". Suwon: 2009, p. 22-27. |
dc.identifier.uri | http://hdl.handle.net/2117/9527 |
dc.description.abstract | This paper proposes an algorithm for regrasp planning of 2D and 3D discrete objects, such that the regrasp trajectory ensures a force-closure (FC) grasp while the regrasp motion is performed. The approach takes advantage of a method that quickly explores the grasp space, and relies on the use of independent contact regions and non-graspable regions, which provide large regions of the FC or non-FC subspaces starting from a single sample. Application examples are included to show the relevance of the results. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robotics |
dc.title | Regrasp planning for discrete objects |
dc.type | Conference report |
dc.subject.lemac | Robòtica -- Congressos |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.identifier.doi | 10.1109/ISAM.2009.5376937 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.rights.access | Open Access |
local.identifier.drac | 2749566 |
dc.description.version | Postprint (published version) |
local.citation.author | Roa, M.; Suárez, R. |
local.citation.contributor | IEEE International Symposium on Assembly and Manufacturing |
local.citation.pubplace | Suwon |
local.citation.publicationName | 2009 IEEE International Symposium on Assembly and Manufacturing |
local.citation.startingPage | 22 |
local.citation.endingPage | 27 |