Kinematic Redundancy in Robot Grasp Synthesis. An Efficient Tree-based Representation

@article{Peris2005KinematicRI,
  title={Kinematic Redundancy in Robot Grasp Synthesis. An Efficient Tree-based Representation},
  author={C{\'e}sar Fern{\'a}ndez Peris and {\'O}scar Reinoso and Maria Asunci{\'o}n Vicente and Rafael Aracil},
  journal={Proceedings of the 2005 IEEE International Conference on Robotics and Automation},
  year={2005},
  pages={1203-1209}
}
A redundancy resolution technique devoted to grasp synthesis is presented. Given a set of contact points and a certain robot arm and gripper, the goal is to select both the best assignment of gripper fingers to contact points and the best joint values that allow the fingers to reach such contact points. The system proposed is based on the generation of an inverse kinematics tree where fast searches can be performed in order to find the optimum configuration. Optimality is defined as similarity… CONTINUE READING

From This Paper

Figures, tables, results, connections, and topics extracted from this paper.
4 Extracted Citations
12 Extracted References
Similar Papers

Citing Papers

Publications influenced by this paper.

Referenced Papers

Publications referenced by this paper.
Showing 1-10 of 12 references

A decision tree based approach to grasp synthesis

  • C. Fernandez, A. Vicente, O. Reinoso, R. Aracil
  • Proc. Int. Conf. on Intelligent Manipulation and…
  • 2004
1 Excerpt

Data mining

  • I. H. Witten, E. Frank
  • Morgan Kaufmann, 2000. ... ... 7 5 3 1 6 4…
  • 2000
1 Excerpt

Care-o-bot: a system for assisting elderly or disabled persons in home environments

  • C. Schaeffer, T. May
  • Assistive Technology on the Threshold of the New…
  • 1999
2 Excerpts

Rapid learning of robot grasping positions

  • D. Schwammkrug, J. Walter, H. Ritter
  • Proc. 7 Int. Symp. Intelligent Robotics, 1999, pp…
  • 1999
1 Excerpt

Inverse kinematics solutions with singularity robustness for robot manipulator control

  • Y. Nakamura, H. Hanafusa
  • Journal of Dynamic Systems, Measurement and…
  • 1996
1 Excerpt

The synthesis of stable force-closure grasps

  • V. D. Nguyen
  • Technical report AI-TR-905, MIT Artificial…
  • 1986
1 Excerpt

Similar Papers

Loading similar papers…