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Planning Realistic Interactions for Bimanual Grasping and Manipulation

Meenakshi Sundaram, Ashok and Porges, Oliver and Roa Garzon, Máximo Alejandro (2016) Planning Realistic Interactions for Bimanual Grasping and Manipulation. In: IEEE-RAS International Conference on Humanoid Robots, pp. 987-994. IEEE. 2016 IEEE-RAS International Conference on Humanoid Robots, 15-17 Nov 2016, Cancun, Mexico.

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This work presents a dual arm grasp planning architecture that includes two relevant aspects often neglected: differences in hand actuation, and realistic forces applicable by the end effectors. The introduction of an actuation matrix allows considering differences in contact forces that can be generated between, for instance, a fully actuated and an underactuated hand. The consideration of realistic forces allows the computation of real magnitudes of forces and torques that can be resisted by the grasped object. The manipulability workspace can also be computed based on the capability maps, thus providing all the possible motions that can be imparted on the grasped object while respecting the dual hand grasp constraints. The joint consideration of these factors allow the selection of a good grasp for a desired bimanual manipulation.

Item URL in elib:https://elib.dlr.de/109649/
Document Type:Conference or Workshop Item (Poster)
Title:Planning Realistic Interactions for Bimanual Grasping and Manipulation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Meenakshi Sundaram, AshokAshok.MeenakshiSundaram (at) dlr.deUNSPECIFIED
Porges, OliverOliver.Porges (at) dlr.deUNSPECIFIED
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.deUNSPECIFIED
Date:November 2016
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 987-994
Keywords:Grasp Planning, Bimanual Manipulation
Event Title:2016 IEEE-RAS International Conference on Humanoid Robots
Event Location:Cancun, Mexico
Event Type:international Conference
Event Dates:15-17 Nov 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Meenakshi Sundaram, Ashok
Deposited On:20 Dec 2016 11:06
Last Modified:31 Jul 2019 20:06

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