Name
Abstract | ||
|---|---|---|
Locate and move the object from a region of initial state to a final stable state (form closure) is a guarantee of successful grasping. However, most previous grasping works only focus on how to keep a grasped object in a static state. Very few work concerns on the whole process to achieve stable grasping state and give the conditions of initial region by taking the objects shape into account. In this paper, dynamic grasping is analyzed by utilize attractive region [10]. Meanwhile, a one-parameter four-pin gripper, which can remove all the uncertainties of a planar object, is adopted as grasping tool. The graspable object set of the gripper is given; and the initial state region of the object for the gripper is presented. At last, simulations are given to show the validity of the grasping process analysis and the initial region respectively. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1007/978-3-540-88518-4_68 | ICIRA |
Keywords | Field | DocType |
final stable state,initial state region,initial region,stable grasping,grasped object,attractive region,static state,initial state,process analysis,one-parameter four-pin gripper,planar object,grasp | Computer vision,GRASP,Process analysis,Control engineering,Planar,Artificial intelligence,Engineering,Force closure | Conference |
Volume | ISSN | Citations |
5315 | 0302-9743 | 1 |
PageRank | References | Authors |
0.35 | 11 | 2 |