Reachable Independent Contact Regions for Precision Grasps

摘要：

Independent Contact Regions allow a robust finger placement on the object, despite of potential errors in finger position. They are computed without considering the kinematics of the end-effector, and are usually applied to off-line grasp planners. This paper presents an approach to obtain Reachable Independent Contact Regions by including the hand kinematics in the computational loop. The regions are computed in a short time, which allows real-time applications in virtual grasping. Potential applications of the proposed approach include regrasp planning, and dual-hand manipulation of objects.

作者: Maximo A. Roa Katharina Hertkorn Christoph Borst Gerd Hirzinger

作者单位: Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Wessling,Germany

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5337-5343

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）