Exploració per autor "Cornellà Medrano, Jordi"

Ara es mostren els items 1-5 de 5

    • Efficient determination of four-point form-closure optimal constraints of polygonal objects 

      Cornellà Medrano, Jordi; Suárez Feijóo, Raúl (2009-01)
      Article
      Accés obert
      This paper proposes a new and more efficient solution to the problem of determining optimal form-closure constraints of polygonal objects using four contacts. New grasp parameters are determined based only on the directions ...

    • Fast and flexible determination of force-closure independent regions to grasp polygonal objects 

      Cornellà Medrano, Jordi; Suárez Feijóo, Raúl (2005-01)
      Report de recerca
      Accés obert
      Force-closure independent regions are parts of the object edges such that a grasp with a finger in each region ensures a force-closure grasp. These regions are useful to provide some robustness to the grasp in the presence ...

    • Grasp quality measures 

      Suárez Feijóo, Raúl; Cornellà Medrano, Jordi; Roa Garzón, Máximo (2006-03)
      Report de recerca
      Accés obert
      The correct grasp of objects is a key aspect for the right fulfillment of a given task. In robotics, the development of grippers more and more complex and versatile, such as mechanical hands, augments the necessity for ...

    • Grasping force optimization using dual methods 

      Cornellà Medrano, Jordi; Suárez Feijóo, Raúl (Institut d'Organització i Control de Sistemes Industrials, 2005-11)
      Report de recerca
      Accés obert
      One of the basic requirements in grasping and manipulation of objects is the determination of a suitable set of grasping forces such that the external forces and torques applied on the object are balanced and the object ...

    • Synthesis of 4-frictionless optimal grasp of polygonal objects 

      Cornellà Medrano, Jordi; Suárez Feijóo, Raúl (2006-06)
      Report de recerca
      Accés obert
      The paper proposes a new approach to the problem of determining optimal form-closure grasps of polygonal objects using four frictionless contacts. A new set of grasp parameters is determined based only on the directions ...