TY - GEN
T1 - Caging convex polyhedral objects with four fingers
AU - Su, Jianhua
AU - Wang, Peng
AU - Qiao, Hong
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/7
Y1 - 2014/10/7
N2 - In manufacturing, 3-finger and 4-finger gripper are widely used in grasping, handling and sorting. This paper addresses the problem of operating a binary 4-finger gripper to caging grasp a polyhedral object. We develop a strategy to find the available caging configuration based on the projection of the object. The dynamic grasping process to a stable grasping configuration is also analyzed and simulated based on the concept of 'attractive region'.
AB - In manufacturing, 3-finger and 4-finger gripper are widely used in grasping, handling and sorting. This paper addresses the problem of operating a binary 4-finger gripper to caging grasp a polyhedral object. We develop a strategy to find the available caging configuration based on the projection of the object. The dynamic grasping process to a stable grasping configuration is also analyzed and simulated based on the concept of 'attractive region'.
UR - https://www.scopus.com/pages/publications/84910661545
U2 - 10.1109/CYBER.2014.6917532
DO - 10.1109/CYBER.2014.6917532
M3 - 会议稿件
AN - SCOPUS:84910661545
T3 - 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014
SP - 603
EP - 608
BT - 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014
Y2 - 4 June 2014 through 7 June 2014
ER -