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Prioritized independent contact regions for form closure grasps
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology.
Örebro University, School of Science and Technology.
Örebro University, School of Science and Technology.
2011 (English)In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, p. 1797-1803Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
2011. p. 1797-1803
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keywords [en]
Contact points; Contact regions; Form closure; Frictionless contacts; Positioning accuracy; Robotic grasping; Target object
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-22333DOI: 10.1109/IROS.2011.6094653ISI: 000297477502023Scopus ID: 2-s2.0-84455200614ISBN: 978-1-61284-455-8 (print)ISBN: 9781612844541 (electronic)OAI: oai:DiVA.org:oru-22333DiVA, id: diva2:513335
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems SEP 25-30, 2011 San Francisco, CA, USA
Available from: 2012-04-02 Created: 2012-04-02 Last updated: 2018-01-12Bibliographically approved

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Krug, RobertDimitrov, DimitarCharusta, KrzysztofIliev, Boyko

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf