Computing Independent Contact Regions for Robotic Grasping

Rogelio de J. Portillo-Velez, Alejandro Rodriguez-Angeles, and Carlos A. Cruz-Villar


Grasp planning, Numerical continuation, Contact regions, Force colsure


In this paper computation independent contact regions for general curved objects with applications to grasping is presented. The main contribution of the paper is a new statement of the grasp planning problem as a root finding problem. This is achieved due a suitable interpretation of recent results on grasping problem literature. Therefore, we propose to solve the root finding problem via numerical continuation. Simulation results are presented, which validate our proposal.

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