DocumentCode
1904240
Title
Online grasp synthesis
Author
Coelho, Jefferson A., Jr. ; Grupen, Roderic A.
Author_Institution
Dept. of Comput. Sci., Massachusetts Univ., Amherst, MA, USA
Volume
3
fYear
1996
fDate
22-28 Apr 1996
Firstpage
2137
Abstract
This paper addresses the online grasp synthesis problem, in which statically stable grasp configurations are to be generated given instantaneous contact information. We use the preimage of a given grasp controller to address object resolution, friction compensation, and resource allocation in a online fashion. The approach can be applied to piecewise smooth object geometries, and it can be extended to accommodate any number of contacts and 3D objects
Keywords
compensation; manipulators; resource allocation; stability; friction compensation; grasp controller; instantaneous contact information; object resolution; online grasp synthesis; piecewise smooth object geometries; resource allocation; statically stable grasp configurations; Computer science; Control systems; Force measurement; Friction; Information geometry; Jacobian matrices; Laboratories; Resource management; Robots; State-space methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.506186
Filename
506186
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