Versenden
Drucken
Alvarado, Noe und Suarez, Raul und Roa, Maximo A. (2015) Determining Independent Contact Regions to Immobilize 2D Articulated Objects. In: IEEE International Conference on Robotics and Automation (ICRA), Seiten 4292-4297. IEEE. IEEE Int. Conf. on Robotics and Automation - ICRA, 2015-05-26 - 2015-05-30, Seattle, USA. doi: 10.1109/ICRA.2015.7139791.
![[img]](https://elib.dlr.de/style/images/fileicons/application_pdf.png) |
PDF
- Nur DLR-intern zugänglich
473kB |
Kurzfassung
This paper deals with the problem of determining independent contacts regions (ICRs) on 2D articulated objects, such that a finger contact in each region guarantees a force closure (FC) immobilization, independently of the exact position of the finger. These regions allow a robust finger or fixture placement on the links of the articulated object, despite of possible errors in the position of the contacts. The proposal defines a generalized wrench space for articulated objects and then computes the ICRs starting from an initial FC grasp, considering frictional contacts. The approach has been implemented, and some illustrative examples are provided.
| elib-URL des Eintrags: | https://elib.dlr.de/97207/ | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Dokumentart: | Konferenzbeitrag (Anderer) | ||||||||||||||||
| Titel: | Determining Independent Contact Regions to Immobilize 2D Articulated Objects | ||||||||||||||||
| Autoren: |
| ||||||||||||||||
| Datum: | 2015 | ||||||||||||||||
| Erschienen in: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||
| Open Access: | Nein | ||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||
| DOI: | 10.1109/ICRA.2015.7139791 | ||||||||||||||||
| Seitenbereich: | Seiten 4292-4297 | ||||||||||||||||
| Verlag: | IEEE | ||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||
| Stichwörter: | Fixturing, force-closure grasp, grasping, independent contact regions | ||||||||||||||||
| Veranstaltungstitel: | IEEE Int. Conf. on Robotics and Automation - ICRA | ||||||||||||||||
| Veranstaltungsort: | Seattle, USA | ||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
| Veranstaltungsbeginn: | 26 Mai 2015 | ||||||||||||||||
| Veranstaltungsende: | 30 Mai 2015 | ||||||||||||||||
| Veranstalter : | IEEE | ||||||||||||||||
| 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 - On-Orbit Servicing [SY] | ||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Autonomie und Fernprogrammierung | ||||||||||||||||
| Hinterlegt von: | Roa Garzon, Dr. Máximo Alejandro | ||||||||||||||||
| Hinterlegt am: | 13 Jul 2015 10:42 | ||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:02 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags
