NDLI: Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm

Content Provider	Springer Nature Link
Author	Wen, Shuang quan Wu, Tie jun
Copyright Year	2012
Abstract	Grasp evaluation and planning are two fundamental issues in robotic grasping and dexterous manipulation. Most traditional methods for grasp quality evaluation suffer from non-uniformity of the wrench space and a dependence on the scale and choice of the reference frame. To overcome these weaknesses, we present a grasp evaluation method based on disturbance force rejection under the assumption that the normal component of each individual contact force is less than one. The evaluation criterion is solved using an enhanced ray-shooting algorithm in which the geometry of the grasp wrench space is read by the support mapping. This evaluation procedure is very fast due to the efficiency of the ray-shooting algorithm without linearization of the friction cones. Based on a necessary condition for grasp quality improvement, a heuristic searching algorithm for polyhedral object regrasp is also proposed. It starts from an initial force-closure unit grasp configuration and iteratively improves the grasp quality to find the locally optimum contact points. The efficiency and effectiveness of the proposed algorithms are illustrated by a number of numerical examples.
Starting Page	218
Ending Page	231
Page Count	14
File Format	PDF
ISSN	18691951
Journal	Journal of Zhejiang University SCIENCE C
Volume Number	13
Issue Number	3
e-ISSN	1869196X
Language	English
Publisher	SP Zhejiang University Press
Publisher Date	2012-03-06
Publisher Place	Heidelberg
Access Restriction	Subscribed
Subject Keyword	Force closure Grasp quality evaluation Multifingered grasp Grasping planning Ray-shooting Electronics and Microelectronics, Instrumentation Electrical Engineering Computer Science Communications Engineering, Networks Computer Hardware Computer Systems Organization and Communication Networks
Content Type	Text
Resource Type	Article
Subject	Engineering

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