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Determining force-closure grasps reachable by a given hand

Author
Gilart, F.; Suarez, R.
Type of activity
Presentation of work at congresses
Name of edition
10th IFAC Symposium on Robot Control, SYROCO
Date of publication
2012
Presentation's date
2012-09-05
Book of congress proceedings
Preprints of the 10th IFAC Symposium on Robot Control
First page
235
Last page
240
DOI
https://doi.org/10.3182/20120905-3-HR-2030.00043 Open in new window
Repository
http://hdl.handle.net/2117/17837 Open in new window
URL
http://www.syroco2012.org/index.html Open in new window
Abstract
The paper presents an approach to find contact points on an object surface that are reachable by a given hand and such that the resulting grasp satisfies the force-closure condition. This is a very common problem that still requires a practical solution. The proposed method is based on the computation of a set of independent contact regions on the object boundary such that a finger contact on each region produces a force-closure grasp, and then this set of regions is iteratively recomputed while...
Citation
Gilart, F.; Suarez, R. Determining force-closure grasps reachable by a given hand. A: Symposium on Robot Control. "Preprints of the 10th IFAC Symposium on Robot Control". Dubrovnik: 2012.
Keywords
Dexterous Manipulation, Grasping, Multifingered Hands
Group of research
SIR - Service and Industrial Robotics

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