A Complete and Efficient Algorithm for Searching 3-D Form-Closure Grasps in the Discrete Domain

Liu, Yunhui; Lam, Miu Ling; Ding, Derui

doi:10.1109/tro.2004.829500

Cited by 112 publications

(67 citation statements)

References 22 publications

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“…Otherwise, the initial contacts are iteratively exchanged with other candidate locations until a force-closure grasp is obtained. The previous heuristic algorithm is extended in [22] for any number of contacts with or without friction. The authors in [23] demonstrate that wrenches associated to any three non-aligned contact points of 3D objects form a basis of their corresponding wrench space.…”

Section: Force-closure Grasp Synthesis For 3d Objectsmentioning

confidence: 99%

An overview of 3D object grasp synthesis algorithms

Sahbani

El-Khoury

Bidaud

2012

Robotics and Autonomous Systems

404

214

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a b s t r a c tThis overview presents computational algorithms for generating 3D object grasps with autonomous multi-fingered robotic hands. Robotic grasping has been an active research subject for decades, and a great deal of effort has been spent on grasp synthesis algorithms. Existing papers focus on reviewing the mechanics of grasping and the finger-object contact interactions Bicchi and Kumar (2000) [12] or robot hand design and their control Al-Gallaf et al. (1993) [70]. Robot grasp synthesis algorithms have been reviewed in Shimoga (1996) [71], but since then an important progress has been made toward applying learning techniques to the grasping problem. This overview focuses on analytical as well as empirical grasp synthesis approaches.

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Section: Force-closure Grasp Synthesis For 3d Objectsmentioning

confidence: 99%

An overview of 3D object grasp synthesis algorithms

Sahbani

El-Khoury

Bidaud

2012

Robotics and Autonomous Systems

404

214

View full text Add to dashboard Cite

show abstract

“…The necessary and sufficient condition for the existence of an FC grasp is that the origin of the generalized wrench space lies inside the convex hull of the contact wrenches W [4] [32]. The test used in this work to verify this condition is based on the following Lemma, derived from [13] for the case of a rigid object (linear programming techniques can also be used [33][34]).…”

Section: Force-closure Testmentioning

confidence: 99%

Grasp analysis and synthesis of 2D articulated objects with n links

Tovar

Suárez

2015

Robotics and Computer-Integrated Manufacturing

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This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with n links considering frictionless contacts. The boundary of each link of the object is represented by a finite set of boundary points allowing links of any shape to be considered. Grasp analysis is carried out to verify whether a set of contact points on the object boundary allows a force-closure grasp, while the goal of grasp synthesis is to determine a set of contact points that allows a force-closure grasp. The paper describes the process of finding the elements of the generalized wrench vector generated by a force applied to any link of the articulated object and a procedure to search for a force-closure grasp based on these generalized wrenches. The approach has been implemented and some examples are included in the paper.

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“…The necessary and sufficient condition for the existence of an FC grasp is that the origin of the generalized wrench space lies inside the convex hull of the contact wrenches W , hereafter CH(W ) (Mishra et al, 1987;Murray et al, 1994). The test used in this work to verify this condition is derived from (Roa and Suárez, 2009) for the case of a single rigid object and extended by Alvarado and Suárez (2013) for an articulated 2D object (it can also be done using linear programming techniques (Liu et al, 2004;Asada and Kitagawa, 1989)). Let P be the centroid of W , O the origin of the wrench space and H a boundary hyperplane of CH(W ), a grasp is FC if P and O lie on the same side of each hyperplane H.…”

Section: Force-closure Testmentioning

confidence: 99%

Searching force-closure optimal grasps of articulated 2D objects with n links

Tovar

Suárez

2014

IFAC Proceedings Volumes

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This paper proposes a method that finds a locally optimal grasp of an articulated 2D object with n links considering frictionless contacts. The surface of each link of the object is represented by a finite set of points, thus it may have any shape. The proposed approach finds, first, an initial force-closure grasp and from it starts an iterative search of a local optimum grasp. The quality measure considered in this work is the largest perturbation wrench that a grasp can resist with independence of the direction of the perturbation. The approach has been implemented and some illustrative examples are included in the article.

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A Complete and Efficient Algorithm for Searching 3-D Form-Closure Grasps in the Discrete Domain

Cited by 112 publications

References 22 publications

An overview of 3D object grasp synthesis algorithms

An overview of 3D object grasp synthesis algorithms

Grasp analysis and synthesis of 2D articulated objects with n links

Searching force-closure optimal grasps of articulated 2D objects with n links

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