2009 IEEE Transactions on Robotics

[ieee-4912336] Computation of Independent Contact Regions for Grasping 3-D Objects [PDF] [notes]

Máximo A. Roa, Raúl Suárez

read 22/05/2017

Objective

Generate ICRs by growing them from starting FC grasp

Synthesis

Object surface approximated by triangular mesh

ICR as set of neighboring points in the mesh

Coulomb friction model

Pipeline

Initialization

• Find an initial FC grasp
• improve the initial FC grasp iteratively by trying to improve the limiting facet by moving it's vertices
• maximize the size of the sphere centered on the origin with contact to the facets

Grow ICRs

• fix minimum grasp quality
• move hyperplanes (parallel to facets) towards origin to match minimal grap quality
• see if new valid wrench are located in the given volume
• good illustration at top of page 844

Notes

Grasp quality

Several ways to evaluate grasp quality

• maximal wrench that can be resisted, regardless of direction

• task-specific quality

• associated with hand configuration