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Grasp optimization under specific contact constraints

Autor
Rosales, C.; Porta, J.; Ros, L.
Tipus d'activitat
Article en revista
Revista
IEEE journal of robotics and automation
Data de publicació
2013
Volum
29
Número
3
Pàgina inicial
746
Pàgina final
757
DOI
https://doi.org/10.1109/TRO.2013.2244785 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/20245 Obrir en finestra nova
Resum
This paper presents a procedure for synthesizing high-quality grasps for objects that need to be held and manipulated in a specific way, characterized by a prespecified set of contact constraints to be satisfied. Due to the multimodal nature of typical grasp quality measures, approaches that resort to local optimization methods are likely to get trapped into local extrema on such a problem. An additional difficulty is that the set of feasible grasps is a highly dimensional manifold, implicitly d...
Citació
Rosales, C.; Porta, J.M.; Ros, L. Grasp optimization under specific contact constraints. "IEEE transactions on robotics", 2013, vol. 29, núm. 3, p. 746-757.
Paraules clau
Robots Paraules Autor: Anthropomorphic Hand, Contact Constraint, Grasp Planning, Grasp Quality Index, Grasp Synthesis, Precision Grasp
Grup de recerca
KRD - Cinemàtica i Disseny de Robots

Participants