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 to meet the demands of the targeted application. The introduced method utilizes frictionless contact constraints and is able to efficiently approximate the space of disturbances resistible by all grasps comprising contacts within the independent regions.

Independent Contact Regions based on a patch contact model

“…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.…”

Efficient and robust grasp planning based on independent contact region and caging

“…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.…”