Reachable independent contact regions for precision grasps

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 5337-5343

  Roa, Maximo A ^a   Hertkorn, Katharina ^a   Borst, Christoph ^a   Hirzinger, Gerd ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

CONTACT REGIONS; HAND KINEMATICS; POTENTIAL APPLICATIONS; POTENTIAL ERRORS; REAL-TIME APPLICATION; VIRTUAL GRASPING;

KINEMATICS;

ROBOTICS;

EID: 84455189232     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5980341     Document Type: Conference Paper

References (26)

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 Int. Conf. Intelligent Robots and Systems, 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 H. Ding, "Planning force-closure grasps on 3-D objects," in Proc. IEEE Int. Conf. Robotics and Automation, 2004, pp. 1258-1263.
6. M. Roa and R. Suarez, "Finding locally optimum force-closure grasps," J. Robotics and Computer Integrated Manufacturing, vol. 25, no. 3, pp. 536-544, 2009.
7. C. Borst, M. Fischer, and G. Hirzinger, "Calculating hand configurations for precision and pinch grasps," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2002, pp. 1553-1559.
8. J. Rosell, X. Sierra, L. Palomo, and R. Suarez, "Finding grasping configurations of a dexterous hand and an industrial robot," in Proc. IEEE Int. Conf. Robotics and Automation, 2005, pp. 1178-1183.
9. C. Borst, M. Fischer, and G. Hirzinger, "A fast and robust grasp planner for arbitrary 3D objects," in Proc. IEEE Int. Conf. Robotics and Automation, 1999, pp. 1890-1896.
10. Z. Xue, J. Zoellner, and R. Dillmann, "Grasp planning: Find the contact points," in Proc. IEEE Int. Conf. Robotics and Biomimetics, 2007, pp. 835-840.
11. A. Miller, S. Knoop, H. Christensen, and P. Allen, "Automatic grasp planning using shape primitives," in Proc. IEEE Int. Conf. Robotics and Automation, 2003, pp. 1824-1829.
12. M. Ciocarlie and P. Allen, "Hand posture subspaces for dexterous robotic grasping," Int. J. Robotics Research, vol. 28, no. 7, pp. 851-867, 2009.
13. V. Nguyen, "Constructing force-closure grasps," Int. J. Robotics Research, vol. 7, no. 3, pp. 3-16, 1988.
14. 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.
15. 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.
16. M. Roa and R. Suarez, "Computation of independent contact regions for grasping 3-D objects," IEEE Trans. Robotics, vol. 25, no. 4, pp. 839-850, 2009.
17. C. Rosales, L. Ros, J. Porta, and R. Suarez, "Synthesizing grasp configurations with specified contact regions," Int. J. Robotics Research, DOI: 10.1177/0278364910370218, 2010.
18. L. Han, J. Trinkle, and Z. Li, "Grasp analysis as linear matrix inequality problems," IEEE Trans. Robotics and Automation, vol. 16, no. 6, pp. 663-674, 2000.
19. R. Murray, Z. Li, and S. Sastry, A Mathematical Introduction to Robotic Manipulation. Boca Ratón, Florida: CRC Press, 1994.
20. C. Ferrari and J. Canny, "Planning optimal grasps," in Proc. IEEE Int. Conf. Robotics and Automation, 1992, pp. 2290-2295.
21. M. Sagardia, T. Hulin, C. Preusche, and G. Hirzinger, "Improvements of the voxmap-pointshell algorithm - fast generation of haptic data structures," in Proc. 53rd Int. Wissenschaftliches Kolloquium, 2008.
22. T. Hulin, M. Sagardia, J. Artigas, S. Schätzle, P. Kremer, and C. Preusche, "Human-scale bimanual haptic interface," in Proc. 5th Int. Conf. on Enactive Interfaces, 2008.
23. H. Liu, K. Wu, P. Meusel, N. Seitz, G. Hirzinger, M. Jin, Y. Liu, S. Fan, T. Lan, and Z. Chen, "Multisensory five-finger dexterous hand: The DLR/HIT hand II," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2008, pp. 3692-3697.
24. C. Barber, D. Dobkin, and H. Huhdanpaa, "The quickhull algorithm for convex hulls," ACM Transactions on Mathematical Software, vol. 22, no. 4, pp. 469-483, 1996.
25. M. Roa and R. Suarez, "Regrasp planning in the grasp space using independent regions," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2009, pp. 1823-1829.
26. F. Zacharias, C. Borst, and G. Hirzinger, "Online generation of reachable grasps for dexterous manipulation using a representation of the reachable workspace," in Proc. IEEE Int. Conf. Advanced Robotics, 2009.