Chen, I-Ming and Burdick, Joel W. (1993) Finding antipodal point grasps on irregularly shaped objects. IEEE Transactions on Robotics and Automation, 9 (4). pp. 507-512. ISSN 1042-296X. https://resolver.caltech.edu/CaltechAUTHORS:CHEieeetra93
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Abstract
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 | ||||||
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Additional Information: | © 1993 IEEE. Reprinted with permission. Manuscript received January 22, 1992; revised December 22, 1992. | ||||||
Issue or Number: | 4 | ||||||
Record Number: | CaltechAUTHORS:CHEieeetra93 | ||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:CHEieeetra93 | ||||||
Official Citation: | I-Ming Chen and J. W. Burdick, "Finding antipodal point grasps on irregularly shaped objects," in IEEE Transactions on Robotics and Automation, vol. 9, no. 4, pp. 507-512, Aug. 1993. doi: 10.1109/70.246063 | ||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
ID Code: | 6488 | ||||||
Collection: | CaltechAUTHORS | ||||||
Deposited By: | Archive Administrator | ||||||
Deposited On: | 11 Dec 2006 | ||||||
Last Modified: | 02 Oct 2019 23:33 |
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