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Simultaneous and Realistic Contact and Force Planning in Grasping

Hertkorn, Katharina and Roa, Maximo A. and Wimböck, Thomas and Borst, Christoph (2015) Simultaneous and Realistic Contact and Force Planning in Grasping. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2291-2298. IEEE. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 28 Sept - 02 Oct 2015, Hamburg, Germany.

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Abstract

Traditional approaches in grasping consider separately the planning of contact points and forces. This often leads to optimally simulated grasps that fail in a real execution when the forces applied at the chosen contact points cannot resist expected perturbations like the own object weight. This paper presents a method that combines a grasp planner with the computation of grasp forces, which provides contact points and contact forces that take into account joint and torque limits of the robotic hand for fingertip grasps. The planner starts with a given hand pose relative to the object, and uses the concept of reachable independent contact regions to obtain a set of force closure grasps. Within this set, the grasp that best counteracts a given external wrench is chosen. The evaluation examples illustrate how the capabilities of the robotic hand can be used more effectively by this joint planning approach.

Item URL in elib:https://elib.dlr.de/99425/
Document Type:Conference or Workshop Item (Speech)
Title:Simultaneous and Realistic Contact and Force Planning in Grasping
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hertkorn, KatharinaKatharina.Hertkorn (at) dlr.deUNSPECIFIED
Roa, Maximo A.maximo.roa (at) dlr.deUNSPECIFIED
Wimböck, ThomasThomas.Wimboeck (at) dlr.deUNSPECIFIED
Borst, ChristophChristoph.Borst (at) dlr.deUNSPECIFIED
Date:October 2015
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 2291-2298
Publisher:IEEE
Status:Published
Keywords:grasp planning
Event Title:2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Hamburg, Germany
Event Type:international Conference
Event Dates:28 Sept - 02 Oct 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:17 Nov 2015 14:27
Last Modified:01 Dec 2018 19:51

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