Grasp Envelopes for Constraint-based Robot Motion Planning and Control
2015 (English)In: Robotics: Science and Systems Conference: Workshop on Bridging the Gap between Data-driven and Analytical Physics-based Grasping and Manipulation, 2015Conference paper, Abstract (Refereed)
We suggest a grasp represen-tation in form of a set of enveloping spatial constraints. Our representation transforms the grasp synthesisproblem (i. e., the question of where to position the graspingdevice) from finding a suitable discrete manipulator wrist pose to finding a suitable pose manifold. Also the correspondingmotion planning and execution problem is relaxed – insteadof transitioning the wrist to a discrete pose, it is enough tomove it anywhere within the grasp envelope which allows toexploit kinematic redundancy.
Place, publisher, year, edition, pages
Grasping, Grasp Control, Motion Control
Research subject Computer Science
IdentifiersURN: urn:nbn:se:oru:diva-45346OAI: oai:DiVA.org:oru-45346DiVA: diva2:842706
2015 Robotics: Science and Systems Conference (RSS, Rome, Italy, July 13-17, 2015