Caging convex polyhedral objects with four fingers
Jianhua Su; Peng Wang; Hong Qiao
2014
Conference Name2014 IEEE 4th Annual International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
Source Publication4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems
Conference Date4-7 June 2014
Conference PlaceHong Kong, China
AbstractIn manufacturing, 3-finger and 4-finger gripper are widely used in grasping, handling and sorting. This paper addresses the problem of operating a binary 4-finger gripper to caging grasp a polyhedral object. We develop a strategy to find the available caging configuration based on the projection of the object. The dynamic grasping process to a stable grasping configuration is also analyzed and simulated based on the concept of ldquoattractive regionrdquo.
KeywordJianhua Su Hong Qiao Key Lab. Of Complex Syst. & Intell. Sci. Inst. Of Autom. Beijing China.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12865
Collection复杂系统管理与控制国家重点实验室_机器人理论与应用
Corresponding AuthorJianhua Su
Recommended Citation
GB/T 7714
Jianhua Su,Peng Wang,Hong Qiao. Caging convex polyhedral objects with four fingers[C],2014.
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