Independent contact regions for frictional grasps on 3D objects

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2008, Pages 1622-1627

  Roa, Máximo A ^a,b   Suárez, Raúl ^a  

^a UNIVERSITAT POLITÈCNICA DE CATALUNYA   (Spain)

^b UNIVERSIDAD NACIONAL DE COLOMBIA   (Colombia)

Author keywords

Frictional grasp; Independent contact regions

Indexed keywords

CONTENT BASED RETRIEVAL; END EFFECTORS; INDUSTRIAL ENGINEERING; PERTURBATION TECHNIQUES; ROBOTICS; TOOLS; TREES (MATHEMATICS);

CONTACT REGIONS; FRICTIONAL GRASP; INDEPENDENT CONTACT REGIONS;

THREE DIMENSIONAL;

EID: 51649098576     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2008.4543433     Document Type: Conference Paper

References (16)

1. A. Bicchi, "On the closure properties of robotic grasping," Int. J. Robotics Research, vol. 14, no. 4, pp. 319-344, 1995.
2. Y. Liu, "Computing n-finger form-closure grasps on polygonal objects," Int. J. Robotics Research, vol. 19, no. 2, pp. 149-158, 2000.
3. N. Niparnan and A. Sudsang, "Computing all force-closure grasps of 2D objects from contact point set," in Proc. IEEE/RSJ IROS 2006, 2006, pp. 1599-1604.
4. J. Ponce, S. Sullivan, A. Sudsang, J. Boissonat, and J. Merlet, "On computing four-finger equilibrium and force-closure grasps of polyhedral objects," Int. J. Robotics Research, vol. 16, no. 1, pp. 11-35, 1997.
5. X. Zhu and J. Wang, "Synthesis of force-closure grasps on 3-D objects based on the Q distance," IEEE Trans. Robotics and Automation, vol. 19, no. 4, pp. 669-679, 2003.
6. Y. Liu, M. Lam, and D. Ding, "A complete and efficient algorithm for searching 3-D form closure grasps in the discrete domain," IEEE Trans. Robotics, vol. 20, no. 5, pp. 805-816, 2004.
7. V. Nguyen, "Constructing force-closure grasps," Int. J. Robotics Research, vol. 7, no. 3, pp. 3-16, 1988.
8. J. Cornellà and R. Suárez, "Fast and flexible determination of force-closure independent regions to grasp polygonal objects," in Proc. IEEE ICRA 2005, 2005, pp. 778-783.
9. _, "Determining independent grasp regions on 2D discrete objects," in Proc. IEEE/RSJ IROS 2005, 2005, pp. 2936-2941.
10. J. Ponce and B. Faverjon, "On computing three-finger force-closure grasps of polygonal objects," IEEE Trans. Robotics and Automation, vol. 11, no. 6, pp. 868-881, 1995.
11. N. Pollard, "Closure and quality equivalence for efficient synthesis of grasps from examples," Int. J. Robotics Research, vol. 23, no. 6, pp. 595-614, 2004.
12. M. Roa and R. Suarez, "Determination of independent contact regions on discretized 3D objects," in Proc. IEEE Int. Symp. Assembly and Manufacturing, ISAM, 2007, pp. 191-196.
13. C. Ferrari and J. Canny, "Planning optimal grasps," in Proc. IEEE ICRA 1992, 1992, pp. 2290-2295.
14. R. Murray, Z. Li, and S. Sastry, A Mathematical Introduction to Robotic Manipulation. Boca Ratón, Florida: CRC Press, 1994.
15. K. Shimoga, "Robot grasp synthesis algorithms: A survey," Int. J. Robotics Research, vol. 15, no. 3, pp. 230-266, 1996.
16. M. Roa and R. Suarez, "Geometrical approach for grasp synthesis on discretized 3D objects," in Proc. IEEE/RSJ IROS 2007, 2007, pp. 3283-3288.