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Contact Trajectories for Regrasp Planning on Discrete Objects

Roa, Maximo A. and Suarez, Raul (2010) Contact Trajectories for Regrasp Planning on Discrete Objects. Springer. ISBN 978-3-642-14115-7.

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Official URL: http://www.springer.com/engineering/robotics/book/978-3-642-14115-7

Abstract

Manipulation tasks, in general, require a grasp change on the object during its execution. The manipulation problem can be solved by simply rolling or sliding the fingers on the object surface, the so-called regrasping approach. This paper provides an algorithm for regrasp planning of 2D and 3D discrete objects, such that the regrasp trajectory of each contact ensures a force-closure grasp (i.e. a grasp that resists external disturbances) while the regrasp motion is performed. The proposed approach takes advantage of a sampling-based method that quickly explores the grasp space, and relies on the use of independent contact regions and non-graspable regions, which provide large regions of the force-closure or non force-closure subspaces starting from a single sample. Application examples are included to show the relevance of the results.

Document Type:Book
Title:Contact Trajectories for Regrasp Planning on Discrete Objects
Authors:
AuthorsInstitution or Email of Authors
Roa, Maximo A.maximo.roagarzon@dlr.de
Suarez, Raulraul.suarez@upc.edu
Date:September 2010
Page Range:pp. 69-83
Editors:
EditorsEmail
Lee, SukhanUNSPECIFIED
Suarez, RaulUNSPECIFIED
Byung-Wook, ChoiUNSPECIFIED
Publisher:Springer
ISBN:978-3-642-14115-7
Status:Published
Keywords:regrasp, manipulation planning
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Leistungszentrum Robotik - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: Maximo Alejandro Roa Garzon
Deposited On:13 Jan 2011 15:25
Last Modified:12 Dec 2013 21:13

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