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Título: | Synthesizing grasp configurations with specified contact regions |
Autor: | Rosales, Carlos CSIC; Ros, Lluís CSIC ORCID ; Porta, Josep M. CSIC ORCID ; Suárez, Raúl | Palabras clave: | Precision grasp Grasp planning Grasp synthesis Contact constraint Position analysis Configuration problem |
Fecha de publicación: | 2011 | Editor: | Sage Publications | Citación: | International Journal of Robotics Research 30(4): 431-443 (2011) | Resumen: | In this paper we present a new method to solve the configuration problem on robotic hands: determining how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand-object contacts to be satisfied. In contrast to previous algorithms given for the same purpose, the method presented here allows such contacts to be specified between free-form regions on the hand and object surfaces, and always returns a solution whenever one exists. The method is based on formulating the problem as a system of polynomial equations of special form, and then exploiting this form to isolate the solutions, using a numerical technique based on linear relaxations. The approach is general, in the sense that it can be applied to any grasping mechanism involving lower-pair joints, and it can accommodate as many hand-object contacts as required. Experiments are included that illustrate the performance of the method in the particular case of the Schunk Anthropomorphic hand. © 2011 The Author(s). | Versión del editor: | http://dx.doi.org/10.1177/0278364910370218 | URI: | http://hdl.handle.net/10261/96880 | DOI: | 10.1177/0278364910370218 | Identificadores: | doi: 10.1177/0278364910370218 issn: 0278-3649 e-issn: 1741-3176 |
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