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CLC number: TP242

On-line Access: 2012-03-01

Received: 2011-06-08

Revision Accepted: 2011-10-25

Crosschecked: 2012-02-08

Cited: 2

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Journal of Zhejiang University SCIENCE C 2012 Vol.13 No.3 P.218-231

http://doi.org/10.1631/jzus.C1100151


Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm


Author(s):  Shuang-quan Wen, Tie-jun Wu

Affiliation(s):  Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   sqwen@iipc.zju.edu.cn

Key Words:  Force closure, Grasp quality evaluation, Multifingered grasp, Grasping planning, Ray-shooting


Shuang-quan Wen, Tie-jun Wu. Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm[J]. Journal of Zhejiang University Science C, 2012, 13(3): 218-231.

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author="Shuang-quan Wen, Tie-jun Wu",
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%T Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm
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%A Tie-jun Wu
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%P 218-231
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%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.C1100151

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T1 - Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm
A1 - Shuang-quan Wen
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J0 - Journal of Zhejiang University Science C
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.C1100151


Abstract: 
Grasp evaluation and planning are two fundamental issues in robotic grasping and dexterous manipulation. Most traditional methods for grasp quality evaluation suffer from non-uniformity of the wrench space and a dependence on the scale and choice of the reference frame. To overcome these weaknesses, we present a grasp evaluation method based on disturbance force rejection under the assumption that the normal component of each individual contact force is less than one. The evaluation criterion is solved using an enhanced ray-shooting algorithm in which the geometry of the grasp wrench space is read by the support mapping. This evaluation procedure is very fast due to the efficiency of the ray-shooting algorithm without linearization of the friction cones. Based on a necessary condition for grasp quality improvement, a heuristic searching algorithm for polyhedral object regrasp is also proposed. It starts from an initial force-closure unit grasp configuration and iteratively improves the grasp quality to find the locally optimum contact points. The efficiency and effectiveness of the proposed algorithms are illustrated by a number of numerical examples.

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