Fast and flexible determination of force-closure independent regions to grasp polygonal objects
Visualitza/Obre
Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/526
Tipus de documentReport de recerca
Data publicació2005-01
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 2.5 Espanya
Abstract
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 of uncertainty as well as in grasp planning. Most of the approaches to the computation of these regions for N fingers work on the contact space, implying a N-dimensional problem. This paper presents a new approach to determinate independent regions on polygonal objects considering N friction or frictionless contact. The approach works on the object space, implying that it is always a two-dimensional problem and, since it is not necessary to compute all the force-closure space, it becomes a very fast approach. Besides, the approach is also flexible since constraints on the fingers placement can be easily introduced. Some graphical examples are includes in this paper showing the simplicity of the methodology.
Forma partIOC-DT-P; 2005-2
Fitxers | Descripció | Mida | Format | Visualitza |
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cornella-suarez-2005-2.pdf | 286,6Kb | Visualitza/Obre |