Title :
Caging convex polyhedral objects with four fingers
Author :
Jianhua Su ; Peng Wang ; Hong Qiao
Author_Institution :
Key Lab. of Complex Syst. & Intell. Sci., Inst. of Autom., Beijing, China
Abstract :
In manufacturing, 3-finger and 4-finger gripper are widely used in grasping, handling and sorting. This paper addresses the problem of operating a binary 4-finger gripper to caging grasp a polyhedral object. We develop a strategy to find the available caging configuration based on the projection of the object. The dynamic grasping process to a stable grasping configuration is also analyzed and simulated based on the concept of “attractive region”.
Keywords :
grippers; materials handling; 3-finger gripper; attractive region concept; binary 4-finger gripper; convex polyhedral object caging; dynamic grasping process; handling; sorting; Euclidean distance; Grasping; Gravity; Grippers; Thumb;
Conference_Titel :
Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2014 IEEE 4th Annual International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
978-1-4799-3668-7
DOI :
10.1109/CYBER.2014.6917532
