Tell a friend
Print
Alvarado, Noe and Suarez, Raul and Roa, Maximo A. (2015) Determining Independent Contact Regions to Immobilize 2D Articulated Objects. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 4292-4297. IEEE. IEEE Int. Conf. on Robotics and Automation - ICRA, 26-30 May 2015, Seattle, USA.
![[img]](https://elib.dlr.de/style/images/fileicons/application_pdf.png) |
PDF
- Only accessible within DLR
473kB |
Abstract
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.
| Item URL in elib: | https://elib.dlr.de/97207/ | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Document Type: | Conference or Workshop Item (Other) | ||||||||||||
| Title: | Determining Independent Contact Regions to Immobilize 2D Articulated Objects | ||||||||||||
| Authors: |
| ||||||||||||
| Date: | 2015 | ||||||||||||
| Journal or Publication Title: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||
| Refereed publication: | Yes | ||||||||||||
| Open Access: | No | ||||||||||||
| Gold Open Access: | No | ||||||||||||
| In SCOPUS: | No | ||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||
| Page Range: | pp. 4292-4297 | ||||||||||||
| Publisher: | IEEE | ||||||||||||
| Status: | Published | ||||||||||||
| Keywords: | Fixturing, force-closure grasp, grasping, independent contact regions | ||||||||||||
| Event Title: | IEEE Int. Conf. on Robotics and Automation - ICRA | ||||||||||||
| Event Location: | Seattle, USA | ||||||||||||
| Event Type: | international Conference | ||||||||||||
| Event Dates: | 26-30 May 2015 | ||||||||||||
| Organizer: | IEEE | ||||||||||||
| 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: | 13 Jul 2015 10:42 | ||||||||||||
| Last Modified: | 09 Feb 2017 19:21 |
Repository Staff Only: item control page
