NDLI: Precision grasp planning based on Fast Marching Square

Content Provider	IEEE Xplore Digital Library
Author	Lvarez, D.A. Lumbier, A. Gomez, J.V. Garrido, S. Moreno, L.
Copyright Year	2013
Description	Author affiliation: Dept. of Syst. & Autom., Univ. Carlos III of Madrid, Leganes, Spain (Lvarez, D.A.; Lumbier, A.; Gomez, J.V.; Garrido, S.; Moreno, L.)
Abstract	This paper presents a novel methodology for planning the movements of a robotic hand when a precision grasp wants to be performed. This approach is based on the standard Fast Marching Square (FM2) path planning method recently introduced for robot formations. A three-finger kinematic chain is consider as a robot formation to perform simulations. In order to achieve a precision grasp, the task is divided into two phases. In the first one, the hand has to move towards the object to be grasped and stops at a position from which the grasping points can be reached by the fingers of the hand. In the second one, given the contact points for a precision grasp, the movements of the fingers must be planned so that those points are reached by the corresponding fingertips. In both cases, the path planning method used is FM2, so smooth and fast paths are ensured due to the characteristics of FM2. In each phase, different control strategies for robot formations are used. The changes in the geometry of the formations are based on the velocities map calculated in FM2, ensuring collision avoidance and speeding up the grasping phase. Simulation results show the usefulness of this novel application of the method thanks to a good performance of the chosen planning strategy.
Starting Page	425
Ending Page	430
File Size	354975
Page Count	6
File Format	PDF
e-ISBN	9781479909971
DOI	10.1109/MED.2013.6608757
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-06-25
Publisher Place	Greece
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Geometry Frequency modulation Grasping Path planning Planning Joints Robots
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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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