Synthesizing grasp configurations with specified contact regions

In this paper we present a new method to solve the configuration problem on robotic hands: determining how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand-object contacts to be satisfied. In contrast to previous algorithms given for the...

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Detalles Bibliográficos
Autores: Rosales, Carlos, Ros, Lluís, Porta, Josep M., Suárez, Raúl
Tipo de recurso: artículo
Estado:Versión aceptada para publicación
Fecha de publicación:2011
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/96880
Acceso en línea:http://hdl.handle.net/10261/96880
Access Level:acceso abierto
Palabra clave:Precision grasp
Grasp planning
Grasp synthesis
Contact constraint
Position analysis
Configuration problem
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spelling Synthesizing grasp configurations with specified contact regionsRosales, CarlosRos, LluísPorta, Josep M.Suárez, RaúlPrecision graspGrasp planningGrasp synthesisContact constraintPosition analysisConfiguration problemIn this paper we present a new method to solve the configuration problem on robotic hands: determining how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand-object contacts to be satisfied. In contrast to previous algorithms given for the same purpose, the method presented here allows such contacts to be specified between free-form regions on the hand and object surfaces, and always returns a solution whenever one exists. The method is based on formulating the problem as a system of polynomial equations of special form, and then exploiting this form to isolate the solutions, using a numerical technique based on linear relaxations. The approach is general, in the sense that it can be applied to any grasping mechanism involving lower-pair joints, and it can accommodate as many hand-object contacts as required. Experiments are included that illustrate the performance of the method in the particular case of the Schunk Anthropomorphic hand. © 2011 The Author(s).This work has been partially supported by the Spanish Ministry of Science and Innovation under contracts DPI2007-63665 and DPI2007-60858.Peer ReviewedSage Publications2014201420112014info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Postprintinfo:eu-repo/semantics/acceptedVersionhttp://hdl.handle.net/10261/96880reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Ingléshttp://dx.doi.org/10.1177/0278364910370218info:eu-repo/semantics/openAccessoai:digital.csic.es:10261/968802026-05-22T06:33:51Z
dc.title.none.fl_str_mv Synthesizing grasp configurations with specified contact regions
title Synthesizing grasp configurations with specified contact regions
spellingShingle Synthesizing grasp configurations with specified contact regions
Rosales, Carlos
Precision grasp
Grasp planning
Grasp synthesis
Contact constraint
Position analysis
Configuration problem
title_short Synthesizing grasp configurations with specified contact regions
title_full Synthesizing grasp configurations with specified contact regions
title_fullStr Synthesizing grasp configurations with specified contact regions
title_full_unstemmed Synthesizing grasp configurations with specified contact regions
title_sort Synthesizing grasp configurations with specified contact regions
dc.creator.none.fl_str_mv Rosales, Carlos
Ros, Lluís
Porta, Josep M.
Suárez, Raúl
author Rosales, Carlos
author_facet Rosales, Carlos
Ros, Lluís
Porta, Josep M.
Suárez, Raúl
author_role author
author2 Ros, Lluís
Porta, Josep M.
Suárez, Raúl
author2_role author
author
author
dc.subject.none.fl_str_mv Precision grasp
Grasp planning
Grasp synthesis
Contact constraint
Position analysis
Configuration problem
topic Precision grasp
Grasp planning
Grasp synthesis
Contact constraint
Position analysis
Configuration problem
description In this paper we present a new method to solve the configuration problem on robotic hands: determining how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand-object contacts to be satisfied. In contrast to previous algorithms given for the same purpose, the method presented here allows such contacts to be specified between free-form regions on the hand and object surfaces, and always returns a solution whenever one exists. The method is based on formulating the problem as a system of polynomial equations of special form, and then exploiting this form to isolate the solutions, using a numerical technique based on linear relaxations. The approach is general, in the sense that it can be applied to any grasping mechanism involving lower-pair joints, and it can accommodate as many hand-object contacts as required. Experiments are included that illustrate the performance of the method in the particular case of the Schunk Anthropomorphic hand. © 2011 The Author(s).
publishDate 2011
dc.date.none.fl_str_mv 2011
2014
2014
2014
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Postprint
info:eu-repo/semantics/acceptedVersion
format article
status_str acceptedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/96880
url http://hdl.handle.net/10261/96880
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv http://dx.doi.org/10.1177/0278364910370218
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Sage Publications
publisher.none.fl_str_mv Sage Publications
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
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