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Grasp optimization under specific contact constraints

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10.1109/TRO.2013.2244785
 
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hdl:2117/20245

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Rosales Gallegos, Carlos
Porta Pleite, Josep MariaMés informacióMés informació
Ros Giralt, LluísMés informacióMés informació
Document typeArticle
Defense date2013
Rights accessOpen Access
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
Abstract
This paper presents a procedure to synthesize highquality grasps for objects that need to be held and manipulated in a specific way, characterized by a pre-specified set of contact constraints to be satisfied. Due to the multi-modal nature of typical grasp quality measures, approaches that resort to local optimization methods are likely to get trapped into local extrema on such problem. An additional difficulty of the problem is that the set of feasible grasps is a highly-dimensional manifold, implicitly defined by a system of non-linear equations. The proposed procedure finds a way around these issues by focusing the exploration on a relevant subset of grasps of lower dimension, and tracing this subset exhaustively using a higher-dimensional continuation technique. A detailed atlas of the subset is obtained as a result, on which the highest-quality grasp according to any desired criterion, or a combination of criteria, can be readily identified. Examples are included that illustrate the application of the method to a three-fingered planar hand and to the Schunk anthropomorphic hand grasping several objects, using several quality indices.
CitationRosales, C.; Porta, J.M.; Ros, L. Grasp optimization under specific contact constraints. "IEEE transactions on robotics", 2013, vol. 29, núm. 3, p. 746-757. 
URIhttp://hdl.handle.net/2117/20245
DOI10.1109/TRO.2013.2244785
ISSN1552-3098
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  • IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Articles de revista [290]
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