Regrasp planning in the grasp space using independent regions

Authors:
Maximo A. Roa;Raul Suarez
Affiliations:
Institute of Industrial and Control Engineering, Technical University of Catalonia;IOC, UPC, Barcelona, Spain
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 3
Cited 1

Constructing force-closure grasps

International Journal of Robotics Research
On the closure properties of robotic grasping

International Journal of Robotics Research
On computing four-finger equilibrium and force-closure grasps of polyhedral objects

International Journal of Robotics Research

OCOG: A common grasp computation algorithm for a set of planar objects

Robotics and Computer-Integrated Manufacturing

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper presents an approach for quasi-static regrasp planning using n fingers, taking advantage of a method that quickly explores the grasp space for discrete objects. The approach relies on a sampling method, which provides samples of force-closure or non force-closure grasps used to compute regions of the graspable or non-graspable space, respectively. The regrasp contact points generated assure that a force-closure grasp is always possible when performing the regrasp motions. Application examples are included to show the relevance of the results.