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Roa, Maximo A und Hertkorn, Katharina und Zacharias, Franziska und Borst, Christoph und Hirzinger, Gerd (2011) Graspability map: A tool for evaluating grasp capabilities. In: Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS, Seiten 1768-1774. IEEE. IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS, 2011-09-25 - 2011-09-30, San Francisco, CA, USA. ISBN 978-1-61284-454-1. ISSN 2153-0858.
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Offizielle URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6094957
Kurzfassung
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.
| elib-URL des Eintrags: | https://elib.dlr.de/73949/ | ||||||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Paper) | ||||||||||||||||||||||||
| Titel: | Graspability map: A tool for evaluating grasp capabilities | ||||||||||||||||||||||||
| Autoren: |
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| Datum: | September 2011 | ||||||||||||||||||||||||
| Erschienen in: | Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS | ||||||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||||||
| Open Access: | Nein | ||||||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||||||
| Seitenbereich: | Seiten 1768-1774 | ||||||||||||||||||||||||
| Verlag: | IEEE | ||||||||||||||||||||||||
| ISSN: | 2153-0858 | ||||||||||||||||||||||||
| ISBN: | 978-1-61284-454-1 | ||||||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||||||
| Stichwörter: | Grasping, robotic hands | ||||||||||||||||||||||||
| Veranstaltungstitel: | IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS | ||||||||||||||||||||||||
| Veranstaltungsort: | San Francisco, CA, USA | ||||||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
| Veranstaltungsbeginn: | 25 September 2011 | ||||||||||||||||||||||||
| Veranstaltungsende: | 30 September 2011 | ||||||||||||||||||||||||
| Veranstalter : | IEEE/RSJ | ||||||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - RMC - Kognitive Intelligenz und Autonomie (alt) | ||||||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) | ||||||||||||||||||||||||
| Hinterlegt von: | Roa Garzon, Dr. Máximo Alejandro | ||||||||||||||||||||||||
| Hinterlegt am: | 20 Jan 2012 13:28 | ||||||||||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 19:39 |
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