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Synthesizing grasp configurations with specified contact regions

Author
Rosales, C.; Ros, L.; Porta, J.; Suarez, R.
Type of activity
Journal article
Journal
International journal of robotics research
Date of publication
2011
Volume
30
Number
4
First page
431
Last page
443
DOI
https://doi.org/10.1177/0278364910370218 Open in new window
Repository
http://hdl.handle.net/2117/13058 Open in new window
URL
http://dx.doi.org/10.1177/0278364910370218 Open in new window
Abstract
This paper presents a new method to solve the configuration problem on robotic hands:deter- mine how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand-object contacts to be satisfied. In contrast to previous algorithms given for the same purpose, the one presented here allows specifing such contacts between free-form regions on the hand and object surfaces, and always returns a solution whenever one exists. The method is based on formu...
Citation
Rosales, C. [et al.]. Synthesizing grasp configurations with specified contact regions. "International journal of robotics research", 2011, vol. 30, núm. 4, p. 431-443.
Keywords
anthropomorphic hand, contact constraint, grasp planning, grasp synthesis, inverse kinematics, position analysis, precision grasp, prehension, robots PARAULES AUTOR: configuration problem
Group of research
KRD - Kinematics and Robot Design
SIR - Service and Industrial Robotics

Participants