Exploration of the grasp space using independent contact and non-graspable regions
Visualitza/Obre
Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/2255
Tipus de documentReport de recerca
Data publicació2008-04
Condicions d'accésAccés obert
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Reconeixement-NoComercial-SenseObraDerivada 2.5 Espanya
Abstract
This report presents the use of independent contact and non-graspable regions to generate the grasp space for 2D and 3D discrete objects. The grasp space is constructed via 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 method provides a reliable procedure for an efficient generation of the whole grasp space for n-finger grasps on discrete objects; two examples on 2D objects are provided to illustrate its performance. The approach has several applications in manipulation and regrasping of objects, as it provides a large number of force-closure and non force-closure grasps in a short time.
Altres identificadorsIOC-DT-P-2008-05
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IOC-DT-P-2008-05.pdf | 599,0Kb | Visualitza/Obre |