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Graspability map: A tool for evaluating grasp capabilities

Roa, Maximo A and Hertkorn, Katharina and Zacharias, Franziska and Borst, Christoph and Hirzinger, Gerd (2011) Graspability map: A tool for evaluating grasp capabilities. In: Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS, pp. 1768-1774. IEEE. IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS, 25-30 Sept. 2011, San Francisco, CA, USA. ISBN 978-1-61284-454-1. ISSN 2153-0858

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Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6094957


This paper presents the graspability map, a novel approach to represent for a particular object the positions and orientations that a given mechanical hand can adopt to achieve a force closure precision grasp. The algorithm is based on the intersection between the fingertip workspaces and the object, plus the verification of a necessary condition for force closure grasps. The maps are computed offline and can be used for comparing the grasp capabilities of different mechanical hands with respect to some benchmark objects. The maps have also potential applications in online grasp and manipulation planning.

Document Type:Conference or Workshop Item (Paper)
Title:Graspability map: A tool for evaluating grasp capabilities
AuthorsInstitution or Email of Authors
Roa, Maximo Amaximo.roa@dlr.de
Hertkorn, Katharinakatharina.hertkorn@dlr.de
Zacharias, Franziskafranziska.zacharias@dlr.de
Borst, Christophchristoph.borst@dlr.de
Hirzinger, Gerdgerd.hirzinger@dlr.de
Date:September 2011
Journal or Publication Title:Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 1768-1774
Keywords:Grasping, robotic hands
Event Title:IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS
Event Location:San Francisco, CA, USA
Event Type:international Conference
Event Dates:25-30 Sept. 2011
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: Maximo Alejandro Roa Garzon
Deposited On:20 Jan 2012 13:28
Last Modified:12 Dec 2013 21:33

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