New advances in automatic selection of eligible surface elements for grasping and fixturing

Many object surfaces involve a number of pieces, expressed by different equations. Previous methods of optimal grasp planning can hardly cope with such cases. Ding et al. solve this problem by characterizing the object surface with convex facets and discrete points, then selecting the eligible ones...

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Veröffentlicht in:	Robotica 2010-05, Vol.28 (3), p.341-348
Hauptverfasser:	Zheng, Y., Qian, W.-H.
Format:	Artikel
Sprache:	eng
Schlagworte:	Eligibility Fixture Force-closure Multifingered grasping Optimal grasp planning
Online-Zugang:	Volltext
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