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Finding all valid hand configurations for a given precision grasp

Author
Rosales, C.; Porta, J.; Suarez, R.; Ros, L.
Type of activity
Presentation of work at congresses
Name of edition
2008 IEEE International Conference on Robotics and Automation
Date of publication
2008
Presentation's date
2008
Book of congress proceedings
2008 IEEE Internacional Conference on Robotics and Automation: conference proceedings
First page
1634
Last page
1640
Repository
http://hdl.handle.net/2117/7115 Open in new window
Abstract
Planning a precision grasp for a robot hand is usually decomposed into two main steps. First, a set of contact points over the object surface must be determined, ensuring they allow a stable grasp. Second, the inverse kinematics of the robot hand must be solved to verify whether the contact points can actually be reached. Whereas the first problem has been largely solved in a general posing, the second one has only been tackled with local convergence methods. These methods only provide one solut...
Citation
Rosales, C. [et al.]. Finding all valid hand configurations for a given precision grasp. A: IEEE International Conference on Robotics and Automation. "2008 IEEE International Conference on Robotics and Automation". Pasaden: 2008, p. 1634-1640.
Group of research
KRD - Kinematics and Robot Design
SIR - Service and Industrial Robotics

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