Finding antipodal point grasps on irregularly shaped objects
- Creators
- Chen, I-Ming
- Burdick, Joel W.
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.
Additional Information
© 1993 IEEE. Reprinted with permission. Manuscript received January 22, 1992; revised December 22, 1992.Attached Files
Published - CHEieeetra93.pdf
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Additional details
- Eprint ID
- 6488
- Resolver ID
- CaltechAUTHORS:CHEieeetra93
- Created
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2006-12-11Created from EPrint's datestamp field
- Updated
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2021-11-08Created from EPrint's last_modified field