Name
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1017/S0263574709990889 | Robotica |
Keywords | DocType | Volume |
appropriate stable grasp,new linear programming problem,proposed force-closure test,multifingered grasps synthesis,suboptimal grasp,proposed approach,stochastic optimization-based approach,arbitrary object,arbitrary shaped object,central axis,Coulomb friction model,force-closure property | Journal | 28 |
Issue | ISSN | Citations |
7 | 0263-5747 | 2 |
PageRank | References | Authors |
0.39 | 25 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Belkacem Bounab | 1 | 2 | 1.41 |
| Abdenour Labed | 2 | 18 | 4.26 |
| Daniel Sidobre | 3 | 68 | 8.15 |