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.
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 | |||||||||||||||
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 (until 2012) > Robotic Systems | |||||||||||||||
Deposited By: | Roa Garzon, Dr. Máximo Alejandro | |||||||||||||||
Deposited On: | 14 Jun 2011 09:17 | |||||||||||||||
Last Modified: | 12 Dec 2013 21:18 |
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