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 | ||||||
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Additional Information: | © 1992 IEEE. | ||||||
DOI: | 10.1109/ROBOT.1992.219920 | ||||||
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: | 16 Nov 2021 17:19 |
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