Title :
Grasp planning taking into account the external wrenches acting on the grasped object
Author :
Seredynski, Dawid ; Winiarski, Tomasz ; Banachowicz, Konrad ; Zielinski, Cezary
Author_Institution :
Inst. of Control & Comput. Eng., Warsaw Univ. of Technol., Warsaw, Poland
Abstract :
The paper presents an outline of the specification of a robot controller used in manipulation tasks requiring object grasping by a multi-fingered gripper and interaction with the environment. The specification assumes that the robot is represented as an embodied agent composed of real and virtual effectors and receptors and the control subsystem. The actions of those subsystems are defined by finite state machines invoking in each of their states appropriate behaviours. The presentation focuses on grasp planning and execution.
Keywords :
dexterous manipulators; end effectors; finite state machines; grippers; control subsystem; finite state machine; grasp planning; manipulation task; multifingered gripper; object grasping; receptor; robot controller specification; virtual effector; Force; Grippers; Joints; Manipulators; Planning; Trajectory;
Conference_Titel :
Robot Motion and Control (RoMoCo), 2015 10th International Workshop on
Conference_Location :
Poznan
DOI :
10.1109/RoMoCo.2015.7219711
