Please use this identifier to cite or link to this item: http://dx.doi.org/10.14279/depositonce-5050
Main Title: A compliance-centric view of grasping
Author(s): Eppner, Clemens
Bartels, Georg
Brock, Oliver
Type: Research Paper
Language Code: en
Abstract: We advocate the central importance of compliance for grasp performance and demonstrate that grasp algorithms can achieve robust performance by explicitly considering and exploiting mechanical compliance of the grasping hand. Specifically, we consider the problem of robust grasping in the absence of a priori object models, focusing on object capture and grasp stability under variations of object shape for a given robotic hand. We present a simple characterization of the relationship between hand compliance, object shape, and grasp success. Based on this hypothesis, we devise a compliance-centric grasping algorithm. Real-world experiments show that this algorithm outperforms compliance-agnostic grasping, eliminates the need for explicit contact state planning, and simplifies the perceptual requirements when no a priori information about the environment is available.
URI: http://depositonce.tu-berlin.de/handle/11303/5375
http://dx.doi.org/10.14279/depositonce-5050
Issue Date: Feb-2012
Date Available: 17-Mar-2016
DDC Class: DDC::000 Informatik, Informationswissenschaft, allgemeine Werke::000 Informatik, Wissen, Systeme::004 Datenverarbeitung; Informatik
Subject(s): Robotik
Greifen
robotics
grasping
compliance-centric
performance
Sponsor/Funder: EC/FP7/248258/EU/Flexible Skill Acquisition and Intuitive Robot Tasking for Mobile Manipulation in the Real World/FIRST-MM
Creative Commons License: https://creativecommons.org/licenses/by/4.0/
Series: Technical Report of the Robotics and Biology Laboratory, Department of Computer Engineering and Microelectronics, Technische Universität Berlin
Series Number: RBO-2012-01
Appears in Collections:Technische Universität Berlin » Fakultäten & Zentralinstitute » Fakultät 4 Elektrotechnik und Informatik » Institut für Technische Informatik und Mikroelektronik » Publications

Files in This Item:
File Description SizeFormat 
eppner_clemens.pdf1.16 MBAdobe PDFThumbnail
View/Open


Items in DepositOnce are protected by copyright, with all rights reserved, unless otherwise indicated.