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dc.contributor.authorFontanals, Joan
dc.contributor.authorDang-Vu, Bao-Anh
dc.contributor.authorRoa, Máximo Alejandro
dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.authorPorges, Oliver
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.identifier.citationFontanals, J. [et al.]. Integrated grasp and motion planning using independent contact regions. A: IEEE-RAS International Conference on Humanoid Robots. "Proceedings of the IEEE-RAS 2014 International Conference on Humanoid Robots". Madrid: Institute of Electrical and Electronics Engineers (IEEE), 2014, p. 887-893.
dc.description.abstractTraditionally, grasp and arm motion planning are considered as separate tasks. This paper presents an integrated approach that only requires the initial configuration of the robotic arm and the pose of the target object to simultaneously plan a good hand pose and arm trajectory to grasp the object. The planner exploits the concept of independent contact regions to look for the best possible grasp. The goal poses for the end effector are obtained using two different methods: one that biases a sampling approach towards favorable regions using principal component analysis, and another one that considers the capabilities of the robotic arm to decide the most promising hand poses. The proposed method is evaluated using different scenarios for the humanoid robot SpaceJustin.
dc.format.extent7 p.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobot hands
dc.titleIntegrated grasp and motion planning using independent contact regions
dc.typeConference lecture
dc.subject.lemacMans mecàniques
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.rights.accessOpen Access
dc.description.versionPostprint (author’s final draft)
local.citation.authorFontanals, J.; Dang-Vu, B.; Roa, M.A.; Rosell, J.; Porges, O.
local.citation.contributorIEEE-RAS International Conference on Humanoid Robots
local.citation.publicationNameProceedings of the IEEE-RAS 2014 International Conference on Humanoid Robots

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