Cart (Loading....) | Create Account
Close category search window
 

Optimum grasp of planar and revolute objects with gripper geometry constraints

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Boivin, E. ; Dept. of Mechanical Eng., McGiIl Univ., Montreal, Que., Canada ; Sharf, I. ; Doyon, M.

This work presents a new methodology for synthesizing force-closure two-finger and three-finger grasps for planar and revolute parts. Most real world objects can be modeled using such parts. The grasp synthesis explicitly takes into account the gripper geometry constraints, but unlike previous related work, we optimize several grasp quality criteria simultaneously, rather than individually. The methodology also has two distinct features that makes it complete: corners are considered to ensure every existing grasp is found and an accessibility check is made around the part contour to avoid synthesizing impossible grasps. The algorithm is therefore practical while it ensures high quality grasps. Results are presented for grasp synthesis of several objects with SARAH, an under-actuated three-finger robotic hand.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:1 )

Date of Conference:

26 April-1 May 2004

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.