Mechanical Analysis of Grasps with Defective Contacts Using Polyhedral Convex Set Theory.

Zhang, Xiaoyi; Nakamura, Yoshihiko; Yoshimoto, Kenichi

doi:10.7210/jrsj.14.105

Cited by 16 publications

(7 citation statements)

References 8 publications

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“…To filter unfeasible grasps by taking into account these physical conditions, some grasp quality metrics which have been developed mainly in robotics [FC92,ZNY96,JP10] can be applied to the resulting hand postures determined with our system. In the phase of adjusting hand posture, sometimes our current implementation cannot avoid miss collision detection, especially the case of grasps with palm.…”

Section: Discussionmentioning

confidence: 99%

“…We did not consider grasp stability, which depends on the gravity and friction on the surface. To filter unfeasible grasps by taking into account these physical conditions, some grasp quality metrics which have been developed mainly in robotics [FC92, ZNY96, JP10] can be applied to the resulting hand postures determined with our system. Some psychophysical experiments for validation of coverage of our grasp taxonomy are also required.…”

Section: Discussionmentioning

confidence: 99%

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Fast Grasp Synthesis for Various Shaped Objects

Kyota¹,

Saito²

2012

Computer Graphics Forum

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Human-like grasp planning is difficult because a human hand has a high number of degrees of freedom, and there are many grasping styles depending on the shape of an object and purpose. We propose a fast grasp synthesis system which enables a user to choose the desired grasping styles from a set of grasp types in a human grasp taxonomy. Given a 3D model of an object, our system detects graspable positions and generates grasping hand postures in every applicable grasp types in the grasp taxonomy for each grasping position. Hand postures are generated separately for each digit, and hand alignment is then refined iteratively. A user can also specify the grasping position by moving the cursor onto object surface, as well as grasp type. The generated hand postures are shown as a table of thumbnail images, and the user can select the grasping hand posture by clicking on one of those postures. Our system enables interactive generation of various grasping hand postures in real time.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Fast Grasp Synthesis for Various Shaped Objects

Kyota¹,

Saito²

2012

Computer Graphics Forum

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“…(21) for a set of torque command. It is well known [5] that the resultant force f and moment m, span a convex polygon CP as shown in Fig.4(a), where U, is a 6D vector given by U0…”

Section: Basic Behaviour Under Constant Torque Commandmentioning

confidence: 99%

“…Such an enveloping grasp can support a large load in nature and is highly stable due to a large number of distributed contacts on the grasped object. While there are still many works in enveloping gasps, most of them discuss the contact force analysis [1]- [3], robustness of grasp [4], [5] and so forth, by implicitly assuming that the grasped object does not move.…”

Section: Introductionmentioning

confidence: 99%

Transition stability of enveloped objects

Kaneko

Higashimori

Tsuji

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

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This paper discusses the transition stability in sliding an object enveloped by a multi-fingered robot hand whose joints are under constant torque command. W e provide a new concept on transition stability, where a transition is called stable if the object is guaranteed to reach the goal section without moving away from a virtual cylinder defined in hand working space. To evaluate th.e transition stability, we introduce the forceflow-diagram enabling us to confirm whether the object moves to the designated direction or not. B y using the diagram, we discuss the transition stability in lifting up an object to the palm under gravitational force. Simulation results show that the transition phase for a column object with concave surface is stable, while that having convex surface tends to be unstable. W e also show experimental results to confirm the basic behaviours during the transition phase.

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“…(2.4) forms a polyhedral convex cone in force/moment space unless there exist no defective contacts [9]. Hereafrer, we assume that all the contacts are not defective.…”

Section: Wke R6mentioning

confidence: 99%

Planning of quasi-static graspless manipulation

Maeda¹,

Aiyama

Arai

Proceedings of the 2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001). Assembly and Disassembly in The

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The planning of graspless manipulation is more discult than that of conventional pick-and-place, because the motion of the object in graspless manipulation is determined by not only the motion of the manipulator, but also mechanical efect through the contacts with the environment. Based on quasi-static analysis, ,we propose an algorithm for the planning of 2 0 graspless manipulation under Coulomb friction. We apply this algorithm to a planning problem of a one-finger manipulation and show a generated result consists of pushing and tumbling -typical graspless operations.

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Mechanical Analysis of Grasps with Defective Contacts Using Polyhedral Convex Set Theory.

Cited by 16 publications

References 8 publications

Fast Grasp Synthesis for Various Shaped Objects

Fast Grasp Synthesis for Various Shaped Objects

Transition stability of enveloped objects

Planning of quasi-static graspless manipulation

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