Independent contact regions based on a patch contact model
2012 (Engelska)Ingår i: 2012 IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2012, s. 4162-4169Konferensbidrag, Publicerat paper (Refereegranskat)
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.
Ort, förlag, år, upplaga, sidor
IEEE conference proceedings, 2012. s. 4162-4169
Serie
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Nyckelord [en]
computational modeling, force, geometry, grasping, humans, robots, dexterous manipulators, mechanical contact, position control
Nationell ämneskategori
Robotik och automation Datavetenskap (datalogi)
Forskningsämne
Datavetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-24193DOI: 10.1109/ICRA.2012.6225325ISI: 000309406704028Scopus ID: 2-s2.0-84864429733ISBN: 978-1-4673-1405-3 (digital)ISBN: 978-1-4673-1403-9 (tryckt)OAI: oai:DiVA.org:oru-24193DiVA, id: diva2:543065
Konferens
2012 IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, MN, USA, May 14-18, 2012
Forskningsfinansiär
EU, FP7, Sjunde ramprogrammet2012-08-062012-08-012025-02-05Bibliografiskt granskad