Central axis approach for computing n-finger force-closure grasps

Bounab, Belkacem; Sidobre, Daniel; Zaatri, Abdelouahab

doi:10.1109/robot.2008.4543362

Cited by 14 publications

(8 citation statements)

References 14 publications

(17 reference statements)

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“…The grasp position, the contact points and the final trajectory are planned by the grasp planner. More details on the grasp planner are given in [3] and [25]. When the object moves, the object frame F o and the path of the trajectory moves also.…”

Section: Control Primitivesmentioning

confidence: 99%

A Reactive Controller Based on Online Trajectory Generation for Object Manipulation

Sidobre

Zhao

2014

Informatics in Control, Automation and Robotics

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Abstract. In this paper, we present a new solution to build a reactive trajectory controller for object manipulation in Human Robot Interaction (HRI) context. Using an online trajectory generator, the controller build a time-optimal trajectory from the actual state to a target situation every control cycle. A human aware motion planner provides a trajectory for the robot to follow or a point to reach. The main functions of the controller are its capacity to track a target, to follow a trajectory with respect to a task frame, or to switch to a new trajectory each time the motion planner provides a new trajectory. The controller chooses a strategy from different control modes depending on the situation. Visual servoing by trajectory generation and control is presented as one application of the approache. To illustrate the potential of the approach, some manipulation results are presented.

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Section: Control Primitivesmentioning

confidence: 99%

A Reactive Controller Based on Online Trajectory Generation for Object Manipulation

Sidobre

Zhao

2014

Informatics in Control, Automation and Robotics

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“…From the contact positions and normals, we compute a stability score. It is based on a force closure test and stability criterion [34]. All the grasps that do not verify force-closure are discarded.…”

Section: A Single Grasp Planningmentioning

confidence: 99%

Planning pick-and-place tasks with two-hand regrasping

Saut

Gharbi

Cortés

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper proposes a planning framework to deal with the problem of computing the motion of a robot with dual arm/hand, during an object pick-and-place task. We consider the situation where the start and goal configurations of the object constrain the robot to grasp the object with one hand, to give it to the other hand, before placing it in its final configuration. To realize such a task, the proposed framework treats the grasp computation, for one or two multifingered hands, of an arbitrarily-shaped object, the exchange configuration and finally the motion of the robot arms and body. In order to improve the planner performance, a contextindependent grasp list is computed offline for each hand and for the given object as well as computed offline roadmap that will be adapted according to the environment composition. Simulation results show the planner performance on a complex scenario.

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“…33 Therefore, we formulate the FC condition as a new LP and we put forward the proposed FC algorithm. 33 Therefore, we formulate the FC condition as a new LP and we put forward the proposed FC algorithm.…”

Section: Force-closure Conditionmentioning

confidence: 99%

Stochastic optimization-based approach for multifingered grasps synthesis

Bounab¹,

Labed²,

Sidobre³

2010

Robotica

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In this paper, we propose an approach for computing suboptimal grasps of polyhedral objects. Assuming n hard-finger contact with Coulomb friction model and based on central axes of the grasp wrench, we develop a new necessary and sufficient condition for n-finger grasps to achieve force-closure property. Accordingly, we reformulate the proposed force-closure test as a new linear programming problem, which we solve using an interior point method. Furthermore, we present an approach for finding appropriate stable grasps for a robotic hand on arbitrary objects. We use the simulated annealing technique for synthesizing suboptimal grasps of 3D objects. Through numerical simulations on arbitrary shaped objects, we show that the proposed approach is able to compute good grasps for multifingered hands within a reasonable computational time.

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Central axis approach for computing n-finger force-closure grasps

Cited by 14 publications

References 14 publications

A Reactive Controller Based on Online Trajectory Generation for Object Manipulation

A Reactive Controller Based on Online Trajectory Generation for Object Manipulation

Planning pick-and-place tasks with two-hand regrasping

Stochastic optimization-based approach for multifingered grasps synthesis

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