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ICRA
2005
IEEE

Regrasp Planning of Four-Fingered Hand for Parallel Grasp of a Polygonal Object

10 years 3 months ago
Regrasp Planning of Four-Fingered Hand for Parallel Grasp of a Polygonal Object
— This paper proposes a necessary and sufficient condition for parallel grasps. We extend the use of this condition to the task of regrasp planning. In particular, we propose a graph structure called a switching graph which contains information about primitive grasping operations such as finger switching and finger sliding. The problem of regrasp planning is transformed to a graph search problem. Mainly, this work concentrates on a parallel grasp with force closure. Assuming frictional point contacts, the proposed method has been implemented and some preliminary results are presented.
Thanathorn Phoka, Peam Pipattanasomporn, Nattee Ni
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Thanathorn Phoka, Peam Pipattanasomporn, Nattee Niparnan, Attawith Sudsang
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