Caging convex polyhedral objects with four fingers

	Caging convex polyhedral objects with four fingers
	Jianhua Su; Peng Wang; Hong Qiao
	2014
会议名称	2014 IEEE 4th Annual International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议录名称	4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems
会议日期	4-7 June 2014
会议地点	Hong Kong, China
摘要	In 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.
关键词	Jianhua Su Hong Qiao Key Lab. Of Complex Syst. & Intell. Sci. Inst. Of Autom. Beijing China.
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/12865
专题	多模态人工智能系统全国重点实验室_机器人理论与应用
通讯作者	Jianhua Su
推荐引用方式 GB/T 7714	Jianhua Su,Peng Wang,Hong Qiao. Caging convex polyhedral objects with four fingers[C],2014.