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Determining independent contacts regions to immobilize 2D articulated objects

Author
Alvarado, N.; Suarez, R.; Roa, M.
Type of activity
Presentation of work at congresses
Name of edition
2015 IEEE International Conference on Robotics and Automation
Date of publication
2015
Presentation's date
2015-05-29
Book of congress proceedings
2015 IEEE International Conference on Robotics and Automation (ICRA 2015): Seattle, Washington, USA, 26-30 May 2015
First page
4292
Last page
4297
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/ICRA.2015.7139791 Open in new window
Repository
http://hdl.handle.net/2117/79283 Open in new window
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 t...
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.
Keywords
Fixturing, force-closure grasp, grasping, independent contact regions
Group of research
SIR - Service and Industrial Robotics

Participants

  • Alvarado, Noe  (author and speaker )
  • Suarez Feijoo, Raul  (author and speaker )
  • Roa Garzón, Máximo Alejandro  (author and speaker )