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Título:
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Regrasp planning in the grasp space using independent regions
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Autor/a:
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Roa Garzón, Máximo; Suárez Feijóo, Raúl
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Otros autores:
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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 presents an approach for quasi-static regrasp planning using n fingers, taking advantage of a method that quickly explores the grasp space for discrete objects. The approach relies on a sampling method, which provides samples of force-closure or non force-closure grasps used to compute regions of the graspable or non-graspable space, respectively. The regrasp contact points generated assure that a force-closure grasp is always possible when performing the regrasp motions. 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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Materia(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica
-Robotics
-Robòtica -- Congressos
-Classificació INSPEC::Automation::Robots |
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Derechos:
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Tipo de documento:
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Artículo - Versión publicada
Objeto de conferencia |
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