37documents trouvés
An efficient algorithm for computing n-finger force closure grasps for planar objects
B.BOUNAB, D.SIDOBRE, A.ZAATRI
RIS, Constantine
Revue Scientifique : International Review of Mechanical Engineering (IREME), Vol.1, N°4, pp.363-371, Novembre 2007 , N° 07397
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Abstract
This paper addresses the problem of computing n-finger equilibrium and force-closure grasps of two-dimensional (2D) objects. Assuming hard-contact and using Coulomb friction model, we develop new necessary and sufficient conditions for n-finger to accomplish equilibrium and force-closure grasps. The proposed conditions are based on the central axes of grasp wrench (i.e., force and torque exerted by the fingers); we demonstrate that a 2D grasp is said to achieve force-closure if and only if, the grasp wrench can generate any arbitrary central axis. So, we present a simple and efficient algorithm for computing n-finger force-closure grasps for planar objects. The proposed geometrical force-closure test needs only some algebraic calculations, what facilitates its real time implementation. We have implemented the proposed algorithm and its efficiency is confirmed by examples.
Mots-Clés / Keywords
Planar objects; Force closure; Grasp wrench; Central axis;
Grasp planning: a decomposition approach for arbitrary 3D objects in autonomous robotics
E.LOPEZ DAMIAN, D.SIDOBRE, R.ALAMI
RIS
Rapport LAAS N°07333, Juillet 2007, 12p.
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110720On computing multi-finger force-closure grasps of 2D objects
B.BOUNAB, D.SIDOBRE, A.ZAATRI
RIS, Constantine
Manifestation avec acte : 4th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2007), Angers (France), 9-12 Mai 2007, 6p. , N° 07208
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110344Soft motion trajectory planning and control for service manipulator robot
I.HERRERA AGUILAR, D.SIDOBRE
RIS, RIA
Manifestation avec acte : Workshop WS-7on Physical Human-Robot Interaction in Anthropic, Beijing (Chine), 9-15 Octobre 2006, 10p. , N° 06893
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109024Grasp planning for interactive manipulation tasks
E.LOPEZ DAMIAN, D.SIDOBRE, R.ALAMI
RIA
Manifestation avec acte : 5th International Symposium on Robotics and Automation (ISRA'2006), Mexico (Mexique), 25-28 Août 2006, 7p. , N° 05362
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108891Soft-motion and visual control for service robots
I.HERRERA AGUILAR, D.SIDOBRE
RIA
Manifestation avec acte : 5th International Symposium on Robotics and Automation (ISRA'2006), Mexico (Mexique), 25-28 Août 2006, 8p. , N° 06523
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1088903D object grasp planning and execution for service robots
E.LOPEZ DAMIAN, I.HERRERA AGUILAR, D.SIDOBRE
RIA
Rapport LAAS N°06522, Août 2006, 21p.
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107477Mid-term key experiment specification and implementation status
R.ALAMI, L.BRETHES, R.CHATILA, A.CLODIC, M.COTTRET, G.CCOVO, P.DANES, M.DEVY, N.DO HUU, X.DOLLAT, S.FLEURY, M.FONTMARTY, M.HERRB, I.HERRERA AGUILAR, C.LEMAIRE, F.LERASLE, E.LOPEZ DAMIAN, J.MANHES, P.MARCOUL, L. F.MARIN URIAS, V.MONTREUIL, R.PHILIPPSEN, D.SIDOBRE, E.A.SISBOT, F.J.TRUJILLO ROMERO
RIA, 2I, GESTION
Rapport de Contrat : COGNIRON, Project FP6-IST-002020, Juin 2006, 30p. , N° 06425
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107067Grasp planning for non-convex objects
E.LOPEZ DAMIAN, D.SIDOBRE, R.ALAMI
RIA
Revue Scientifique : IFR Robotics Newsletter. Special Addendum, pp.1-7, 2nd- quarter 2006 , N° 05012
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106603Grasp planning for non-convex objects
E.LOPEZ DAMIAN, D.SIDOBRE, R.ALAMI
RIA
Manifestation avec acte : 36th International Symposium on Robotics (ISR'2005), Tokyo (Japon), 29 Novembre - 1er Décembre 2005, 6p. , N° 05012
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