Name
Title | ||
|---|---|---|
Task and context sensitive optimization of gripper design using dynamic grasp simulation |
Abstract | ||
|---|---|---|
In this work, we present a generic approach to optimize the design of a parametrized robot gripper including both gripper parameters and parameters of the finger geometry. We demonstrate our gripper optimization on a parallel jaw type gripper which we have parametrized in a 11 dimensional space. We furthermore present a parametrization of the grasping task and context, which is essential as input to the computation of gripper performance. We exemplify the feasibility of our approach by computing several optimized grippers on a real world industrial object in three different scenarios. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/MMAR.2015.7283701 | 2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR) |
Keywords | Field | DocType |
task sensitive optimization,context sensitive optimization,gripper design,dynamic grasp simulation,parametrized robot gripper,finger geometry,parallel jaw type gripper,11 dimensional space | Engineering drawing,GRASP,Parametrization,Computer science,Robustness (computer science),Control engineering,Robot,Grippers,Computation | Conference |
Citations | PageRank | References |
2 | 0.38 | 6 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Adam Wolniakowski | 1 | 7 | 3.55 |
| Jimmy A. Jørgensen | 2 | 82 | 7.89 |
| Kanstantsin Miatliuk | 3 | 16 | 4.26 |
| Henrik Gordon Petersen | 4 | 111 | 17.88 |
| Norbert Krüger | 5 | 40 | 8.76 |