ICRA'09 Paper Abstract


Paper FrC5.1

EL-KHOURY, Sahar (Universite Pierre et Marie Curie (Paris6)), SAHBANI, ANIS (Université Pierre et Marie Curie - Paris 6, ISIR, CNRS)

On Computing Robust N-Finger Force-Closure Grasps of 3D Objects

Scheduled for presentation during the Regular Sessions "Grasping - III" (FrC5), Friday, May 15, 2009, 13:30−13:50, Room: 403

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Grasping, Multifingered Hands


The paper deals with computing frictional force-closure grasps of 3D objects problem. The key idea of the presented work is the demonstration that wrenches associated to any three non-aligned contact points of 3D objects form a basis of their corresponding wrench space. This result permits the formulation of a new sufficient force-closure test. Our approach works with general objects, modelled with a set of points, and with any number n of contacts (n>3). A quality criterion is also introduced. A corresponding algorithm for computing robust force-closure grasps has been developed. Its efficiency is confirmed by comparing it to the classical convex-hull method.



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