The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This work proposes a necessary condition for n-finger force closure grasp which considers true quadratic force cone without linearization. The condition finds its use as a heuristic for multiple queries force closure test. The heuristic works as a filtering criteria which improves the overall running time of the entire set of queries. An empirical example shows that our approach could speed up the...
This paper proposes an implementation of Fast-SLAM for localization and mapping for an indoor environment. The system use only the bearing information retrieved from an omnidirectional camera via vertical line segments which are common in an indoor environment. The real world experiment is also presented using Pioneer-DX3 mobile robot moving in a room with several objects.
Programmable force field, as a generalized supporting concept for universal part feeder, has been researched and developed for decades. A variety of fields has been proposed, most focused to the fewest possible part positions and orientations. However, there are more factors needed to be concerned in practical use, such as time consumed for part manipulation, or ability of the actual devices to create...
We propose a heuristic approach for regrasp planning problem. We consider especially the case when the input is a triangular mesh with a large number of facets. In such setting, traditional method of complete solution is not available. Our method provides trade off between completeness and resource used in the computation. The algorithm simplifies the input using well known triangular mesh simplification...
We consider a 3D grasping problem. We propose a test of Ropf3-positive span of force cones and a test of Ropf3-positive span of their torque set. Our methods consider directly the quadratic force cone without pyramidal linearization of a cone. The conditions can be computed in a constant time and they are used as a heuristic for 3D force closure test. We also show that our proposed heuristic greatly...
This paper investigates the use of various optimization algorithms for solving the problem of planning optimal three-finger force-closure grasps on curved objects. The optimization aims at minimizing the Q distance function which had been shown in the literature to directly reflect quality of grasps and possess function's smoothness suitable for optimization processes. Four optimization methods including...
For a set of n contact points on the boundary of a 2D object together with their contact normals, we present an output sensitive algorithm for computing all of combinations of four points from this set that achieve force closure under the frictionless contact assumption. The proposed algorithm runs in O(n3 lg2 n + K) where K is the number of unique solutions. Preliminary implementation is described...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.