DocumentCode
1817746
Title
Grasp planning taking into account the external wrenches acting on the grasped object
Author
Seredynski, Dawid ; Winiarski, Tomasz ; Banachowicz, Konrad ; Zielinski, Cezary
Author_Institution
Inst. of Control & Comput. Eng., Warsaw Univ. of Technol., Warsaw, Poland
fYear
2015
fDate
6-8 July 2015
Firstpage
40
Lastpage
45
Abstract
The paper presents an outline of the specification of a robot controller used in manipulation tasks requiring object grasping by a multi-fingered gripper and interaction with the environment. The specification assumes that the robot is represented as an embodied agent composed of real and virtual effectors and receptors and the control subsystem. The actions of those subsystems are defined by finite state machines invoking in each of their states appropriate behaviours. The presentation focuses on grasp planning and execution.
Keywords
dexterous manipulators; end effectors; finite state machines; grippers; control subsystem; finite state machine; grasp planning; manipulation task; multifingered gripper; object grasping; receptor; robot controller specification; virtual effector; Force; Grippers; Joints; Manipulators; Planning; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control (RoMoCo), 2015 10th International Workshop on
Conference_Location
Poznan
Type
conf
DOI
10.1109/RoMoCo.2015.7219711
Filename
7219711
Link To Document