Tell a friend
Print
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
![[img]](http://elib.dlr.de/style/images/fileicons/application_pdf.png) | PDF - Registered users only - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader 3046Kb |
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6094957
Abstract
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 | ||||||||||||
| Authors: |
| ||||||||||||
| 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 | ||||||||||||
| Publisher: | IEEE | ||||||||||||
| ISSN: | 2153-0858 | ||||||||||||
| ISBN: | 978-1-61284-454-1 | ||||||||||||
| Status: | Published | ||||||||||||
| 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 | ||||||||||||
| Organizer: | IEEE/RSJ | ||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||
| HGF - Program: | Raumfahrt | ||||||||||||
| HGF - Program Themes: | R SY - Technik für Raumfahrtsysteme | ||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||
| DLR - Program: | R SY - Technik für Raumfahrtsysteme | ||||||||||||
| DLR - Research theme (Project): | R - RMC - Kognitive Intelligenz und Autonomie | ||||||||||||
| 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: | 24 Feb 2012 10:52 |
Repository Staff Only: item control page
