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Independent contact regions based on a patch contact model
Örebro University, School of Science and Technology. (Centre for applied autonomous sensor systems (AASS))
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)
2012 (English)In: 2012 IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2012, p. 4162-4169Conference paper, Published paper (Refereed)
Abstract [en]

The synthesis of multi-fingered grasps on nontrivial objects requires a realistic representation of the contact between the fingers of a robotic hand and an object. In this work, we use a patch contact model to approximate the contact between a rigid object and a deformable anthropomorphic finger. This contact model is utilized in the computation of Independent Contact Regions (ICRs) that have been proposed as a way to compensate for shortcomings in the finger positioning accuracy of robotic grasping devices. We extend the ICR algorithm to account for the patch contact model and show the benefits of this solution.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2012. p. 4162-4169
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keywords [en]
computational modeling, force, geometry, grasping, humans, robots, dexterous manipulators, mechanical contact, position control
National Category
Robotics Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-24193DOI: 10.1109/ICRA.2012.6225325ISI: 000309406704028Scopus ID: 2-s2.0-84864429733ISBN: 978-1-4673-1405-3 (electronic)ISBN: 978-1-4673-1403-9 (print)OAI: oai:DiVA.org:oru-24193DiVA, id: diva2:543065
Conference
2012 IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, MN, USA, May 14-18, 2012
Funder
EU, FP7, Seventh Framework ProgrammeAvailable from: 2012-08-06 Created: 2012-08-01 Last updated: 2018-01-12Bibliographically approved

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Charusta, KrzysztofKrug, RobertDimitrov, DimitarIliev, Boyko

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CiteExportLink to record
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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
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