NDLI: Computation of Independent Contact Regions for Grasping 3-D Objects

Content Provider	IEEE Xplore Digital Library
Author	Roa, M.A. Suarez, R.
Copyright Year	2004
Abstract	Precision grasp synthesis has received a lot of attention in past few last years. However, real mechanical hands can hardly assure that the fingers will precisely touch the object at the computed contact points. The concept of independent contact regions (ICRs) was introduced to provide robustness to finger positioning errors during an object grasping: A finger contact anywhere inside each of these regions assures a force-closure grasp, despite the exact contact position. This paper presents an efficient algorithm to compute ICRs with any number of frictionless or frictional contacts on the surface of any 3-D object. The proposed approach generates the independent regions by growing them around the contact points of a given starting grasp. A two-phase approach is provided to find a locally optimal force-closure grasp that serves as the starting grasp, considering as grasp quality measure the largest perturbation wrench that the grasp can resist, independently of the perturbation direction. The proposed method can also be applied to compute ICRs when several contacts are fixed beforehand. The approach has been implemented, and application examples are included to illustrate its performance.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	839
Ending Page	850
Page Count	12
File Size	849601
File Format	PDF
ISSN	15523098
Volume Number	25
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-08-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fingers Robots Grasping Force measurement Robustness Resists Manipulators End effectors Fixtures Inspection multifingered hands Fixture grasp independent contact regions (ICRs) manipulation planning
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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