Title :
Online grasp synthesis
Author :
Coelho, Jefferson A., Jr. ; Grupen, Roderic A.
Author_Institution :
Dept. of Comput. Sci., Massachusetts Univ., Amherst, MA, USA
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;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506186
