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Title:
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Regrasp planning for discrete objects
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Author:
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Roa Garzón, Máximo; Suárez Feijóo, Raúl
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Other authors:
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Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
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Abstract:
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This paper proposes an algorithm for regrasp planning of 2D and 3D discrete objects, such that the regrasp trajectory ensures a force-closure (FC) grasp while the regrasp motion is performed. The approach takes advantage of a method that quickly explores the grasp space, and relies on the use of independent contact regions and non-graspable regions, which provide large regions of the FC or non-FC subspaces starting from a single sample. Application examples are included to show the relevance of the results. |
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Abstract:
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Peer Reviewed |
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Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica
-Robotics
-Robòtica -- Congressos
-Classificació INSPEC::Automation::Robots |
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Rights:
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Document type:
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Article - Published version
Conference Object |
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