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Finding antipodal point grasps on irregularly shaped objects

Chen, I-Ming and Burdick, Joel W. (1992) Finding antipodal point grasps on irregularly shaped objects. In: Proceedings 1992 IEEE International Conference on Robotics and Automation. Vol.3. IEEE , Piscataway, NJ, pp. 2278-2283. ISBN 0-8186-2720-4. https://resolver.caltech.edu/CaltechAUTHORS:20190612-104336580

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Abstract

The authors consider two-finger antipodal point grasping of arbitrarily shaped 2D and 3D objects. An object function which maps a finger contact space to the object surface is introduced. 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 at F. Optimization and/or continuation techniques are used to find these critical points. In particular, global optimization techniques are applied to find the maximal grasp. Modeling techniques for representing 2D and 3D objects using B-spline curves and spherical product surfaces are described.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.1992.219920DOIArticle
Additional Information:© 1992 IEEE.
Record Number:CaltechAUTHORS:20190612-104336580
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190612-104336580
Official Citation:I-Ming Chen and J. W. Burdick, "Finding antipodal point grasps on irregularly shaped objects," Proceedings 1992 IEEE International Conference on Robotics and Automation, Nice, France, 1992, pp. 2278-2283 vol.3. doi: 10.1109/ROBOT.1992.219920
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96321
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:12 Jun 2019 17:49
Last Modified:03 Oct 2019 21:21

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