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Grasp optimization under specific contact constraints

Author
Rosales, C.; Porta, J.; Ros, L.
Type of activity
Journal article
Journal
IEEE journal of robotics and automation
Date of publication
2013
Volume
29
Number
3
First page
746
Last page
757
DOI
https://doi.org/10.1109/TRO.2013.2244785 Open in new window
Repository
http://hdl.handle.net/2117/20245 Open in new window
Abstract
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...
Citation
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.
Keywords
contact constraint, grasp planning, grasp quality index, grasp synthesis, precision grasp, robots PARAULES AUTOR: anthropomorphic hand
Group of research
KRD - Kinematics and Robot Design

Participants