Fast computation of 4-fingered force-closure grasps from surface points
This paper addresses the problem of computing frictional 4-fingered force-closure grasps of three-dimensional objects. The proposed approach searches for force-closure grasps from a collection of sampled points on the object's surface. Unlike most other works, the approach is not limited to the...
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| creator | Niparnan, N. Sudsang, A. |
| description | This paper addresses the problem of computing frictional 4-fingered force-closure grasps of three-dimensional objects. The proposed approach searches for force-closure grasps from a collection of sampled points on the object's surface. Unlike most other works, the approach is not limited to the objects with a certain class of shapes. It can be applied to an object in any shape since only the object's surface points and corresponding surface normal at the points are needed. The efficiency of the approach arises from a heuristic for search space pruning which is based on ability to efficiently locate regions in three dimensional space where friction cones intersect and a randomized test for checking force-closure condition. The proposed approach is implemented and preliminary results are presented. |
| doi_str_mv | 10.1109/IROS.2004.1389989 |
| format | Conference Proceeding |
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No.04CH37566)</title><addtitle>IROS</addtitle><description>This paper addresses the problem of computing frictional 4-fingered force-closure grasps of three-dimensional objects. The proposed approach searches for force-closure grasps from a collection of sampled points on the object's surface. Unlike most other works, the approach is not limited to the objects with a certain class of shapes. It can be applied to an object in any shape since only the object's surface points and corresponding surface normal at the points are needed. The efficiency of the approach arises from a heuristic for search space pruning which is based on ability to efficiently locate regions in three dimensional space where friction cones intersect and a randomized test for checking force-closure condition. The proposed approach is implemented and preliminary results are presented.</description><subject>Applied sciences</subject><subject>Computer science; control theory; systems</subject><subject>Control theory. Systems</subject><subject>Exact sciences and technology</subject><subject>Fingers</subject><subject>Fixtures</subject><subject>Humans</subject><subject>Phase change random access memory</subject><subject>Robotics</subject><subject>Shape</subject><subject>Solid modeling</subject><subject>Surface fitting</subject><subject>Testing</subject><isbn>9780780384637</isbn><isbn>0780384636</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2004</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpFUE1Lw0AUXBBBqfkB4mUvHhP3K_txlGJroVCoei6P7duykmTDbnrw3xuI4GNgYGYYhkfII2cN58y97I6Hj0YwphourXPW3ZDKGctmSKu0NHekKuWbzSddq7i-J9sNlIn61I_XCaaYBpoCVXWIwwUznmlI2WPtu1SuGeklQxkLDTn1dBYCeKRjisNUHshtgK5g9ccr8rV5-1y_1_vDdrd-3deRa-nq0HJjrQJpQGsHTDgzT2XaeCOQeSsCOIFnRNk6azSGYFrjtfIopPAqyBV5XnpHKB66kGHwsZzGHHvIPyduuZVMijn3tOQiIv7by1vkL5xxVz0</recordid><startdate>2004</startdate><enddate>2004</enddate><creator>Niparnan, N.</creator><creator>Sudsang, A.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope><scope>IQODW</scope></search><sort><creationdate>2004</creationdate><title>Fast computation of 4-fingered force-closure grasps from surface points</title><author>Niparnan, N. ; Sudsang, A.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i1639-f517884a37a669a0297138067c72e0c82fa92edee359876eff757c64ce232c4f3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2004</creationdate><topic>Applied sciences</topic><topic>Computer science; control theory; systems</topic><topic>Control theory. Systems</topic><topic>Exact sciences and technology</topic><topic>Fingers</topic><topic>Fixtures</topic><topic>Humans</topic><topic>Phase change random access memory</topic><topic>Robotics</topic><topic>Shape</topic><topic>Solid modeling</topic><topic>Surface fitting</topic><topic>Testing</topic><toplevel>online_resources</toplevel><creatorcontrib>Niparnan, N.</creatorcontrib><creatorcontrib>Sudsang, A.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection><collection>Pascal-Francis</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Niparnan, N.</au><au>Sudsang, A.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Fast computation of 4-fingered force-closure grasps from surface points</atitle><btitle>2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)</btitle><stitle>IROS</stitle><date>2004</date><risdate>2004</risdate><volume>4</volume><spage>3692</spage><epage>3697 vol.4</epage><pages>3692-3697 vol.4</pages><isbn>9780780384637</isbn><isbn>0780384636</isbn><abstract>This paper addresses the problem of computing frictional 4-fingered force-closure grasps of three-dimensional objects. The proposed approach searches for force-closure grasps from a collection of sampled points on the object's surface. Unlike most other works, the approach is not limited to the objects with a certain class of shapes. It can be applied to an object in any shape since only the object's surface points and corresponding surface normal at the points are needed. The efficiency of the approach arises from a heuristic for search space pruning which is based on ability to efficiently locate regions in three dimensional space where friction cones intersect and a randomized test for checking force-closure condition. The proposed approach is implemented and preliminary results are presented.</abstract><cop>Piscataway NJ</cop><pub>IEEE</pub><doi>10.1109/IROS.2004.1389989</doi><oa>free_for_read</oa></addata></record> |
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| ispartof | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), 2004, Vol.4, p.3692-3697 vol.4 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Applied sciences Computer science control theory systems Control theory. Systems Exact sciences and technology Fingers Fixtures Humans Phase change random access memory Robotics Shape Solid modeling Surface fitting Testing |
| title | Fast computation of 4-fingered force-closure grasps from surface points |
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