2011 IEEE/RSJ International Conference on Intelligent Robots and Systems 2011
DOI: 10.1109/iros.2011.6094653
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Prioritized independent contact regions for form closure grasps

Abstract: Abstract-The concept of independent contact regions on a target object's surface, in order to compensate for shortcomings in the positioning accuracy of robotic grasping devices, is well known. However, the numbers and distributions of contact points forming such regions is not unique and depends on the underlying computational method. In this work we present a computation scheme allowing to prioritize contact points for inclusion in the independent regions. This enables a user to affect their shape in order t… Show more

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Cited by 2 publications
(2 citation statements)
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“…The most commonly used way for performing this transformation is the procedure of inwards parallel shifting of the hyperplanes defining the GWS until they are tangent to the TWS [10]. An alternative approach (including altering the orientation of the hyperplanes) is discussed in [17]. Fig.…”
Section: A Construction Proceduresmentioning
confidence: 99%
“…The most commonly used way for performing this transformation is the procedure of inwards parallel shifting of the hyperplanes defining the GWS until they are tangent to the TWS [10]. An alternative approach (including altering the orientation of the hyperplanes) is discussed in [17]. Fig.…”
Section: A Construction Proceduresmentioning
confidence: 99%
“…They relaxed the constraints of the inclusion of neighborhood which increased the size of ICRs. In [30], they focused on the userdefined priority of contact points for ICRs' inclusion. This feature allowed users to change the ICRs' shape to meet the task objective.…”
Section: Independent Contact Regionsmentioning
confidence: 99%