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Regrasp planning in the grasp space using independent regions
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 | 2010-10-07T11:07:10Z |
dc.date.available | 2010-10-07T11:07:10Z |
dc.date.created | 2009 |
dc.date.issued | 2009 |
dc.identifier.citation | Roa, M.; Suárez, R. Regrasp planning in the grasp space using independent regions. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "IROS 2009 : 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems". St. Louis, MO: 2009, p. 1823-1829. |
dc.identifier.uri | http://hdl.handle.net/2117/9531 |
dc.description.abstract | This paper presents an approach for quasi-static regrasp planning using n fingers, taking advantage of a method that quickly explores the grasp space for discrete objects. The approach relies on 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 regrasp contact points generated assure that a force-closure grasp is always possible when performing the regrasp motions. Application examples are included to show the relevance of the results. |
dc.format.extent | 7 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robotics |
dc.title | Regrasp planning in the grasp space using independent regions |
dc.type | Conference report |
dc.subject.lemac | Robòtica -- Congressos |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.rights.access | Open Access |
local.identifier.drac | 2751059 |
dc.description.version | Postprint (published version) |
local.citation.author | Roa, M.; Suárez, R. |
local.citation.contributor | IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.pubplace | St. Louis, MO |
local.citation.publicationName | IROS 2009 : 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.startingPage | 1823 |
local.citation.endingPage | 1829 |