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Determining Independent Contact Regions to Immobilize 2D Articulated Objects

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.

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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:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Alvarado, NoeUniversitat Politecnica de Catalunya (UPC)UNSPECIFIED
Suarez, RaulUniversitat Politecnica de Catalunya (UPC)UNSPECIFIED
Roa, Maximo A.maximo.roa (at) dlr.deUNSPECIFIED
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 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:13 Jul 2015 10:42
Last Modified:09 Feb 2017 19:21

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