NDLI: Fast and Flexible Determination of Force-Closure Independent Regions to Grasp Polygonal Objects

Content Provider	IEEE Xplore Digital Library
Author	Cornella, J. Suarez, R.
Copyright Year	2005
Description	Author affiliation: Institut d'Organització i Control de Sistemes Industrials (IOC-UPC) Av. Diagonal 647 Planta 11, 08028 Barcelona, Spain jordi.cornella@upc.es (Cornella, J.)
Abstract	Force-closure independent regions are parts of the object edges such that a grasp with a finger in each region ensures a force-closure grasp. These regions are useful to provide some robustness to the grasp in the presence of uncertainty as well as in grasp planning. Most of the approaches to the computation of these regions for N fingers work on the contact space, implying a N-dimensional problem. This paper presents a new approach to determine independent regions on polygonal objects considering N friction or frictionless contacts. The approach works on the object space, implying that it is always a two-dimensional problem and, since it is not necessary to compute all the force-closure space, it becomes a very fast approach. Besides, the approach is also flexible since constraints on the fingers placement can be easily introduced. Some graphical examples are included in the paper showing the simplicity of the methodology.
Starting Page	766
Ending Page	771
File Size	165611
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570210
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fingers Robustness Friction Computational efficiency Force control Industrial control Uncertainty Heuristic algorithms Position measurement Sufficient conditions force-closure independent regions Grasp synthesis force/form-closure
Content Type	Text
Resource Type	Article

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