ICRA 2011 Paper Abstract

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Paper ThA212.5

Jia, Yan-Bin (Iowa State University), Guo, Feng (Iowa State Univ.), Tian, Jiang (Iowa State University)

On Two-Finger Grasping of Deformable Planar Objects

Scheduled for presentation during the Regular Sessions "Dexterous Manipulation" (ThA212), Thursday, May 12, 2011, 11:05−11:20, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on May 22, 2019

Keywords Grasping, Dexterous Manipulation

Abstract

Grasping a deformable object instantaneously requires maintaining equilibrium of its pre- and post-deformed shapes using the same set of forces. This paper studies the type of grasps generated by squeezing a planar object with two fingers. It is shown that the success of such a grasp is independent of the applied forces in the case of small deformation. Numerical algorithms are introduced to compute sets of squeeze grasps with small and large deformations modeled using the finite element method (FEM) based on the linear and nonlinear elasticity theories, respectively.

 

 

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