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Reachable independent contact regions for precision grasps

Roa, Maximo A. and Hertkorn, Katharina and Borst, Christoph and Hirzinger, Gerd (2011) Reachable independent contact regions for precision grasps. IEEE International Conference on Robotics and Automation - ICRA, 9-13 May, 2011, Shanghai, China. ISBN 978 1 61284 380 3.

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Abstract

Independent Contact Regions allow a robust finger placement on the object, despite of potential errors in finger position. They are computed without considering the kinematics of the end-effector, and are usually applied to off-line grasp planners. This paper presents an approach to obtain Reachable Independent Contact Regions by including the hand kinematics in the computational loop. The regions are computed in a short time, which allows real-time applications in virtual grasping. Potential applications of the proposed approach include regrasp planning, and dual-hand manipulation of objects.

Document Type:Conference or Workshop Item (Paper)
Title:Reachable independent contact regions for precision grasps
Authors:
AuthorsInstitution or Email of Authors
Roa, Maximo A.maximo.roagarzon@dlr.de
Hertkorn, Katharinakatharina.hertkorn@dlr.de
Borst, Christophchristoph.borst@dlr.de
Hirzinger, Gerdgerd.hirzinger@dlr.de
Date:May 2011
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 5337-5343
ISBN:978 1 61284 380 3
Status:Published
Keywords:contact regions, grasp planing, virtual manipulation
Event Title:IEEE International Conference on Robotics and Automation - ICRA
Event Location:Shanghai, China
Event Type:international Conference
Event Dates:9-13 May, 2011
Organizer:IEEE
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 > Robotic Systems
Deposited By: Maximo Alejandro Roa Garzon
Deposited On:14 Jun 2011 09:17
Last Modified:12 Dec 2013 21:18

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