Automatic grasp planning using shape primitives

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 2003, Pages 1824-1829

  Miller, Andrew T ^a   Knoop, Steffen ^b   Christensen, Henrik I ^c   Allen, Peter K ^a  

^a Columbia University ^*  (United States)

^b UNIVERSITY OF KARLSRUHE   (Germany)

^c ROYAL INSTITUTE OF TECHNOLOGY   (Sweden)

Author keywords

[No Author keywords available]

Indexed keywords

COLLISION AVOIDANCE; COMPUTER SIMULATION; CONSTRAINT THEORY; MATERIALS HANDLING; MOTION PLANNING; ROBOTIC ARMS; THREE DIMENSIONAL COMPUTER GRAPHICS; VIRTUAL REALITY;

AUTOMATIC GRASP PLANNING; REACHABILITY; SHAPE PRIMITIVES;

END EFFECTORS;

EID: 0345308464     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (14)

1. C. Borst, M. Fischer, and G. Hirzinger. A fast and robust grasp planner for arbitrary 3D objects. In Proc. of the 1999 IEEE International Conference on Robotics and Automation, pages 1890-1896, Detroit, MI, May 1999.
2. M. R. Cutkosky and P. K. Wright. Modeling manufacturing grips and correlation with the design of robotic hands. In Proc. of the 1986 IEEE International Conference on Robotics and Automation, pages 1533-1539, San Francisco, CA, 1986.
3. D. Ding, Y.-H. Liu, and S. Wang. Computing 3-D optimal form-closure graps. In Proc. of the 2000 IEEE International Conference on Robotics and Automation, pages 3573-3578, San Francisco, CA, April 2000.
4. C. Ferrari and J. Canny. Planning optimal grasps. In Proc. of the 1992 IEEE Intl. Conf. on Robotics and Automation, pages 2290-2295, 1992.
5. R. D. Hester, M. Cetin, C. Kapoor, and D. Tesar, A criteria-based approach to grasp synthesis. In Proc. of the 1999 IEEE International Conference on Robotics and Automation, pages 1255-1260, Detroit, MI, May 1999.
6. T. Iberall. Human prehension and dexterous robot hands. The International Journal of Robotics Research, 16(3):285-299, June 1997.
7. D. Kragić, A. Miller, and P. Allen. Real-time tracking meets online grasp planning. In Proc. of the 2001 IEEE Intl. Conf. on Robotics and Automation, pages 2460-2465, 2001.
8. X. Markenscoff and C. H. Papadimitriou. Optimum grip of a polygon. International Journal of Robotics Research, 8(2):17-29, April 1989.
9. A. T. Miller and P. K. Allen. GraspIt!: A versatile simulator for grasping analysis. In Proc. of the ASME Dynamic Systems and Control Division, volume 2, pages 1251-1258, Orlando, FL, 2000.
10. B. Mirtich and J. Canny. Easily computable optimum grasps in 2-D and 3-D. In Proc. of the 1994 IEEE International Conference on Robotics and Automation, pages 739-747, San Diego, CA, May 1994.
11. J. Napier. The prehensile movements of the human hand. Journal of Bone and Joint Surgery, 38B(4):902-913, November 1956.
12. N. S. Pollard. Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes. PhD thesis, Dept. of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, 1994.
13. J. Ponce, S. Sullivan, J.-D. Boissonant, and J.-P. Merlet. On characterizing and computing three- and four-finger force-closure grasps of polyhedral objects. In Proc. of the 1993 IEEE International Conference on Robotics and Automation, pages 821-827, Atlanta, Georgia, May 1993.
14. S. A. Stansfield. Robotic grasping of unknown objects: A knowledge-based approach. International Journal of Robotics Research, 10(4):314-326, August 1991.