IEEE Transactions on Systems, Man and Cybernetics
Quantitative Steinitz's theorems with applications to multifingered grasping
STOC '90 Proceedings of the twenty-second annual ACM symposium on Theory of computing
On computing four-finger equilibrium and force-closure grasps of polyhedral objects
International Journal of Robotics Research
Planning for in-hand dextrous manipulation
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Multifingered grasping: grasp reflexes and control context
Multifingered grasping: grasp reflexes and control context
INTEGRATING REAL-TIME VISION AND MANIPULATION
HICSS '97 Proceedings of the 30th Hawaii International Conference on System Sciences: Advanced Technology Track - Volume 5
Learning and generalizing control-based grasping and manipulation skills
Learning and generalizing control-based grasping and manipulation skills
Stable grasping under pose uncertainty using tactile feedback
Autonomous Robots
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Akey problem in robot grasping is that of positioning the manipulator contacts so that an object can be grasped. In unstructured environments, contact positions are typically planned based on range or visual measurements that are used to reconstruct object geometry. However, because it is difficult to measure the complete object geometry precisely in common grasp scenarios, it is useful to employ additional techniques to adjust or refine the grasp using local information only. In particular, grasp control techniques can be used to improve a grasp by adjusting the contact configuration after making initial contact with an object by using measurements of local object geometry at the contacts. This paper proposes three variations on null-space grasp control: an approach that combines multiple grasp objectives to improve a grasp. Two of these variations are theoretically demonstrated to converge to force-closure configurations for arbitrary convex objects when grasping with two contacts. All variations are found to converge in simulation. Robot-grasping experiments are reported that show the approach to be useful in practice.