Frictionless grasp with 7 fingers on discretized 3D objects
This paper presents an algorithm to plain locally frictionless grasp on 3D objects. The objects can be of any arbitrary shape, since the surface is discretized in a cloud of points. The planning algorithm finds an initial force-closure grasp that is iteratively improved through an oriented search pr...
| Autores: | , |
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| Tipo de recurso: | informe técnico |
| Fecha de publicación: | 2006 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/415 |
| Acceso en línea: | https://hdl.handle.net/2117/415 |
| Access Level: | acceso abierto |
| Palabra clave: | Grasp planning Frictionless grasp Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
| Sumario: | This paper presents an algorithm to plain locally frictionless grasp on 3D objects. The objects can be of any arbitrary shape, since the surface is discretized in a cloud of points. The planning algorithm finds an initial force-closure grasp that is iteratively improved through an oriented search procedure. The grasp quality is measured with the “largest ball” criterion, and a force-closure test based on geometric considerations is used. The efficiency of the algorithm is illustrated through numerical examples |
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