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, 2011-05-09 - 2011-05-13, Shanghai, China. doi: 10.1109/icra.2011.5980341. 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.
Item URL in elib: | https://elib.dlr.de/70046/ | ||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Paper) | ||||||||||||||||||||
Title: | Reachable independent contact regions for precision grasps | ||||||||||||||||||||
Authors: |
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Date: | May 2011 | ||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||
Open Access: | No | ||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||
DOI: | 10.1109/icra.2011.5980341 | ||||||||||||||||||||
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 Start Date: | 9 May 2011 | ||||||||||||||||||||
Event End Date: | 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 (until 2012) > Robotic Systems | ||||||||||||||||||||
Deposited By: | Roa Garzon, Dr. Máximo Alejandro | ||||||||||||||||||||
Deposited On: | 14 Jun 2011 09:17 | ||||||||||||||||||||
Last Modified: | 11 Nov 2024 09:04 |
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