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2 D and 3 D Caging-Based Grasping of Objects in Various Shapes *
| Content Provider | Semantic Scholar |
|---|---|
| Author | Egawa, Tomohiro Yusuke |
| Copyright Year | 2013 |
| Abstract | We proposed a novel method to grasp objects: caging-based grasping. This method is caging an object by rigid parts of a robot hand and simultaneously grasping by soft parts attached to the rigid parts. By this method, even with a robot hand of simple structure, we can grasp objects in various shapes with only geometrical information. We derive concrete conditions for 2D and 3D caging-based grasping of objects in various shapes. We then simulate cagingbased grasping on a PC and conduct experiments with mobile robots and robot hands. In this paper, we show the results of experiments and simulations. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://dadc6674-a-62cb3a1a-s-sites.googlegroups.com/site/iros2013workshoponcaging/IROS2013CagingWorkshop_Contributor_TomohiroEgawa&YusukeMaeda.pdf?attachauth=ANoY7cohTTt-rOtyYt8LzGAAdB9nO6ZkzEmF8MoshKE0CaFuM_s29fC-764kjxkbD5cmxf1NbWa5UsdySxvxeNIQie1JSJTgD4ekJNxBHhJwiJaQjyQLAeT3TfywDmXFoWXXjRKMDuhLZ2CFYIdv7QbsbkKZUngNaqBTFiRXXkPQSD9OEDHUA0BN79KYsQsdKxb-hC_aSl0wOPRYJ5-HnHTXKuU1owRXzCkm_ARBz1N1gpDqK2y3pTNnywVqz12n7xgJACFDAgQnpWasWAYNuRNx5QyDQ4ZOqY1QwEjLiTDJ4OFN_1GUmxg%3D&attredirects=0 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |