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Prioritized independent contact regions for form closure grasps
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)
Örebro universitet, Institutionen för naturvetenskap och teknik.
Örebro universitet, Institutionen för naturvetenskap och teknik.
Örebro universitet, Institutionen för naturvetenskap och teknik.
2011 (engelsk)Inngår i: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, s. 1797-1803Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

The concept of independent contact regions on a target object's surface, in order to compensate for shortcomings in the positioning accuracy of robotic grasping devices, is well known. However, the numbers and distributions of contact points forming such regions is not unique and depends on the underlying computational method. In this work we present a computation scheme allowing to prioritize contact points for inclusion in the independent regions. This enables a user to affect their shape in order to meet the demands of the targeted application. The introduced method utilizes frictionless contact constraints and is able to efficiently approximate the space of disturbances resistible by all grasps comprising contacts within the independent regions.

sted, utgiver, år, opplag, sider
2011. s. 1797-1803
Serie
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Emneord [en]
Contact points; Contact regions; Form closure; Frictionless contacts; Positioning accuracy; Robotic grasping; Target object
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Forskningsprogram
Datavetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-22333DOI: 10.1109/IROS.2011.6094653ISI: 000297477502023Scopus ID: 2-s2.0-84455200614ISBN: 978-1-61284-455-8 (tryckt)ISBN: 9781612844541 (digital)OAI: oai:DiVA.org:oru-22333DiVA, id: diva2:513335
Konferanse
IEEE/RSJ International Conference on Intelligent Robots and Systems SEP 25-30, 2011 San Francisco, CA, USA
Tilgjengelig fra: 2012-04-02 Laget: 2012-04-02 Sist oppdatert: 2018-01-12bibliografisk kontrollert

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Krug, RobertDimitrov, DimitarCharusta, KrzysztofIliev, Boyko

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