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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, 2011-09-25 - 2011-09-30, San Francisco, CA, USA. doi: 10.1109/iros.2011.6048598. ISBN 978-1-61284-454-1. ISSN 2153-0858.
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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.
| Item URL in elib: | https://elib.dlr.de/73949/ | ||||||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Paper) | ||||||||||||||||||||||||
| Title: | Graspability map: A tool for evaluating grasp capabilities | ||||||||||||||||||||||||
| Authors: |
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| Date: | September 2011 | ||||||||||||||||||||||||
| Journal or Publication Title: | Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS | ||||||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||||||
| Open Access: | No | ||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||||||
| DOI: | 10.1109/iros.2011.6048598 | ||||||||||||||||||||||||
| 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 Start Date: | 25 September 2011 | ||||||||||||||||||||||||
| Event End Date: | 30 September 2011 | ||||||||||||||||||||||||
| Organizer: | IEEE/RSJ | ||||||||||||||||||||||||
| 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 - RMC - Kognitive Intelligenz und Autonomie (old) | ||||||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) | ||||||||||||||||||||||||
| Deposited By: | Roa Garzon, Dr. Máximo Alejandro | ||||||||||||||||||||||||
| Deposited On: | 20 Jan 2012 13:28 | ||||||||||||||||||||||||
| Last Modified: | 11 Nov 2024 09:39 |
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