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...

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Detalles Bibliográficos
Autores: Roa Garzón, Máximo, Suárez Feijóo, Raúl|||0000-0002-3853-7095
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
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spelling Frictionless grasp with 7 fingers on discretized 3D objectsRoa Garzón, MáximoSuárez Feijóo, Raúl|||0000-0002-3853-7095Grasp planningFrictionless graspÀrees temàtiques de la UPC::Informàtica::Automàtica i controlThis 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 examples20062006-06-0120062006-07-04reporthttp://purl.org/coar/resource_type/c_93fcNAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/reportapplication/pdfhttps://hdl.handle.net/2117/415reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 2.5 Spainhttp://creativecommons.org/licenses/by-nc-nd/2.5/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/4152026-05-27T15:37:01Z
dc.title.none.fl_str_mv Frictionless grasp with 7 fingers on discretized 3D objects
title Frictionless grasp with 7 fingers on discretized 3D objects
spellingShingle Frictionless grasp with 7 fingers on discretized 3D objects
Roa Garzón, Máximo
Grasp planning
Frictionless grasp
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
title_short Frictionless grasp with 7 fingers on discretized 3D objects
title_full Frictionless grasp with 7 fingers on discretized 3D objects
title_fullStr Frictionless grasp with 7 fingers on discretized 3D objects
title_full_unstemmed Frictionless grasp with 7 fingers on discretized 3D objects
title_sort Frictionless grasp with 7 fingers on discretized 3D objects
dc.creator.none.fl_str_mv Roa Garzón, Máximo
Suárez Feijóo, Raúl|||0000-0002-3853-7095
author Roa Garzón, Máximo
author_facet Roa Garzón, Máximo
Suárez Feijóo, Raúl|||0000-0002-3853-7095
author_role author
author2 Suárez Feijóo, Raúl|||0000-0002-3853-7095
author2_role author
dc.subject.none.fl_str_mv Grasp planning
Frictionless grasp
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
topic Grasp planning
Frictionless grasp
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
description 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
publishDate 2006
dc.date.none.fl_str_mv 2006
2006-06-01
2006
2006-07-04
dc.type.none.fl_str_mv report
http://purl.org/coar/resource_type/c_93fc
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/report
format report
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/415
url https://hdl.handle.net/2117/415
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 2.5 Spain
http://creativecommons.org/licenses/by-nc-nd/2.5/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 2.5 Spain
http://creativecommons.org/licenses/by-nc-nd/2.5/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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