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Finding antipodal point grasps on irregularly shaped objects

Chen, I-Ming and Burdick, Joel W. (1993) Finding antipodal point grasps on irregularly shaped objects. IEEE Transactions on Robotics and Automation, 4 . pp. 507-512. ISSN 1042-296X.

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Two-finger antipodal point grasping of arbitrarily shaped smooth 2-D and 3-D objects is considered. An object function is introduced that maps a finger contact space to the object surface. Conditions are developed to identify the feasible grasping region, F, in the finger contact space. A “grasping energy function”, E , is introduced which is proportional to the distance between two grasping points. The antipodal points correspond to critical points of E in F. Optimization and/or continuation techniques are used to find these critical points. In particular, global optimization techniques are applied to find the “maximal” or “minimal” grasp. Further, modeling techniques are introduced for representing 2-D and 3-D objects using B-spline curves and spherical product surfaces.

Item Type:Article
Additional Information:© Copyright 1993 IEEE. Reprinted with permission. Manuscript received January 22, 1992; revised December 22, 1992.
Record Number:CaltechAUTHORS:CHEieeetra93
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:6488
Deposited By: Archive Administrator
Deposited On:11 Dec 2006
Last Modified:26 Dec 2012 09:21

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