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/ | ||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||
Title: | Extended Independent Contact Regions for Grasping Apllications | ||||||||||||
Authors: |
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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 System Technology | ||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||
DLR - Research theme (Project): | R - On-Orbit Servicing [SY] | ||||||||||||
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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