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Grasp Envelopes for Constraint-based Robot Motion Planning and Control
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AAAS)ORCID iD: 0000-0002-6013-4874
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0003-0217-9326
2015 (English)In: Robotics: Science and Systems Conference: Workshop on Bridging the Gap between Data-driven and Analytical Physics-based Grasping and Manipulation, 2015Conference paper, Oral presentation with published abstract (Refereed)
Abstract [en]

We suggest a grasp represen-tation in form of a set of enveloping spatial constraints. Our representation transforms the grasp synthesisproblem (i. e., the question of where to position the graspingdevice) from finding a suitable discrete manipulator wrist pose to finding a suitable pose manifold. Also the correspondingmotion planning and execution problem is relaxed – insteadof transitioning the wrist to a discrete pose, it is enough tomove it anywhere within the grasp envelope which allows toexploit kinematic redundancy.

Place, publisher, year, edition, pages
2015.
Keyword [en]
Grasping, Grasp Control, Motion Control
National Category
Computer Systems
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-45346OAI: oai:DiVA.org:oru-45346DiVA: diva2:842706
Conference
2015 Robotics: Science and Systems Conference (RSS, Rome, Italy, July 13-17, 2015
Available from: 2015-07-21 Created: 2015-07-21 Last updated: 2017-10-17Bibliographically approved

Open Access in DiVA

fulltext(2270 kB)175 downloads
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Krug, RobertStoyanov, TodorLilienthal, Achim
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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • 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