D-space and Deform Closure Grasps of Deformable Parts
نویسندگان
چکیده
منابع مشابه
D-space and Deform Closure Grasps of Deformable Parts
– Building on the well-established form closure framework for holding rigid parts, this paper proposes a new framework for holding deformable parts. We consider the class of deformable parts that can be modeled as linearly elastic polygons with a triangular finite element mesh and given stiffness matrix. We define the D-space (deformation-space) of a part as the C-space of all its mesh nodes. F...
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Building on the well-established form closure framework for holding rigid parts, in this paper we propose a new framework for holding deformable parts. We consider the class of deformable parts that can be modeled as linearly elastic polygons with a triangular finite element mesh and given stiffness matrix. We define the D-space (deformation-space) of a part as the C-space of all its mesh nodes...
متن کاملComputing Deform Closure Grasps
In prior work, we extended the well-known form closure grasp framework for rigid parts to a class of deformable parts, modeled as frictionless polygons with a finite element mesh and given stiffness matrix. We define the D-space (deformationspace) of a part as the C-space of all its mesh nodes and deform closure in terms of the work needed to release the part from a set of finger contacts. In t...
متن کاملDeform Closure: a Framework for Holding Deformable Parts
We extend the well-known form closure framework for rigid parts to holding a class of deformable parts. We consider 2D deformable parts modeled as polygons with a triangular FEM mesh and given stiffness matrix that models linear elasticity and the potential energy associated with deformations of the mesh. We define the D-space (deformation-space) of a part E as the C-space of all nodes in the F...
متن کاملConstructing force-closure grasps
This paper presents fast and simple algorithms for directly constructing force-closure grasps based on the shape of the grasped object. The synthesis of force-closure grasps finds independent regions of contact for the fingertips, such that the motion of the grasped object is totally constrained. A forceclosure grasp implies equilibrium grasps exist. In the reverse direction, we show that most ...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2005
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364905059055