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Extended Independent Contact Regions for Grasping Apllications

Dang-Vu, Bao-Anh and Roa, Maximo A. and Borst, Christoph (2013) Extended Independent Contact Regions for Grasping Apllications. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3527-3534. IEEE. IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS, 3-8 November 2013, Tokyo, Japan.

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Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6696859

Abstract

Independent contact regions have been proposed as a way to overcome possible errors in finger positioning for grasping an object. Efficient implementations for their computation have been developed, that even allow their usage in real-time telemanipulation applications. However, the main problems in the computation of contact regions are that they strongly depend on the initial grasp used as an starting point, and that for a given initial grasp there is not a unique set of contact regions. This paper analyzes the optimality of current approaches for ICR computation in 2D, where the optimal regions are still easily computable, and proposes an algorithm to obtain contact regions closer to the optimal ones. The approach is implemented and analyzed for 2D and 3D objects with any number of contact points.

Item URL in elib:https://elib.dlr.de/87395/
Document Type:Conference or Workshop Item (Speech)
Title:Extended Independent Contact Regions for Grasping Apllications
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Dang-Vu, Bao-AnhBao-Anh.Dang-Vu (at) dlr.deUNSPECIFIED
Roa, Maximo A.maximo.roa (at) dlr.deUNSPECIFIED
Borst, ChristophChristoph.Borst (at) dlr.deUNSPECIFIED
Date:November 2013
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 3527-3534
Publisher:IEEE
Series Name:Proceedings of IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS
Status:Published
Keywords:grasp planning, contact regions
Event Title:IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS
Event Location:Tokyo, Japan
Event Type:international Conference
Event Dates:3-8 November 2013
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:10 Jan 2014 11:33
Last Modified:09 Feb 2017 19:20

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