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Determining independent contacts regions to immobilize 2D articulated objects
dc.contributor.author | Alvarado, Noe |
dc.contributor.author | Suárez Feijóo, Raúl |
dc.contributor.author | Roa, Máximo |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.date.accessioned | 2015-11-16T09:58:03Z |
dc.date.issued | 2015 |
dc.identifier.citation | Alvarado, N., Suarez, R., Roa, M. Determining independent contacts regions to immobilize 2D articulated objects. A: IEEE International Conference on Robotics and Automation. "Proceedings of the 2015 IEEE International Conference on Robotics and Automation". Seattle: Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 4292-4297. |
dc.identifier.uri | http://hdl.handle.net/2117/79283 |
dc.description.abstract | This paper deals with the problem of determining independent contacts regions (ICRs) on 2D articulated objects, such that a finger contact in each region guarantees a forceclosure (FC) immobilization, independently of the exact position of the finger. These regions allow a robust finger or fixture placement on the links of the articulated object, despite of possible errors in the position of the contacts. The proposal defines a generalized wrench space for articulated objects and then computes the ICRs starting from an initial FC grasp, considering frictional contacts. The approach has been implemented, and some illustrative examples are provided. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
dc.subject | Àrees temàtiques de la UPC::Informàtica |
dc.subject.lcsh | Manipulators (Mecanism) |
dc.subject.lcsh | Robots |
dc.subject.other | Fixturing |
dc.subject.other | force-closure grasp |
dc.subject.other | grasping |
dc.subject.other | independent contact regions |
dc.title | Determining independent contacts regions to immobilize 2D articulated objects |
dc.type | Conference lecture |
dc.subject.lemac | Manipuladors (Mecanismes) |
dc.subject.lemac | Robots |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.identifier.doi | 10.1109/ICRA.2015.7139791 |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 17235631 |
dc.description.version | Postprint (author's final draft) |
dc.date.lift | 10000-01-01 |
local.citation.author | Alvarado, N.; Suarez, R.; Roa, M. |
local.citation.contributor | IEEE International Conference on Robotics and Automation |
local.citation.pubplace | Seattle |
local.citation.publicationName | Proceedings of the 2015 IEEE International Conference on Robotics and Automation |
local.citation.startingPage | 4292 |
local.citation.endingPage | 4297 |