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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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