DocumentCode
2934280
Title
A Grasp Planner Based On Inertial Properties
Author
Lopez-Damian, Efrain ; Sidobre, Daniel ; Alami, Rachid
Author_Institution
LAAS-CNRS 7, avenue du Colonel Roche, 31077 Toulouse, France edamian@laas.fr
fYear
2005
fDate
18-22 April 2005
Firstpage
754
Lastpage
759
Abstract
The future personal robot must be capable to work and take decisions in a dynamic human environment. One important capability of such a robot is manipulation. Grasp, as the beginning of any manipulation task is a key point. In this paper we present a grasp planner for manipulating real objects modeled by polyhedra. The algorithm is based on a random generation of grasp oriented by mass and inertial properties of the object. Recent techniques to filter and evaluate the quality of grasp are discussed.
Keywords
Force Closure; Grasp Planning; Manipulation; Filling; Filters; Glass; Humans; Motion planning; Resists; Robotics and automation; Robots; Solid modeling; Turning; Force Closure; Grasp Planning; Manipulation;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570208
Filename
1570208
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