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Abstract: : We propose a new reconfigurable gripper that consists of two parallel plates whose distance can be adjusted by a computer-controlled actuator. The bottom plate is a bare plane, and the top plate carries a rectangular grid of actuated pins that can translate in discrete increments under computer control. We propose to use this gripper to immobilize objects through frictionless contacts with three of the pins and the bottom plate. We present an efficient grasp planning algorithm, describe the... (Update)
Context of citations to this paper: More
.... threedimensional polyhedral objects using a new reconfigurable gripper, currently under construction at the University of Illinois [12]. The gripper consists of two parallel plates whose distance can be adjusted by a computer controlled actuator (Figure 1) The bottom plate...
.... can be achieved with fewer fingers (four contacts for convex fingers) than form closure (seven contacts [14, 41] In [45, 42, 44], we introduced a new approach to grasp and manipulation planning based on the notion of second order immobility and a detailed analysis...
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3: bodies by oneparameter two-fingered gripping systems (context) - Rimon, Blake - 1996
3: Computer Science Division (context) - Wallack, Techniques et al. - 1995
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BibTeX entry: (Update)
A. Sudsang, N. Srinivasa, and J. Ponce. On planning immobilizing grasps for a reconfigurable gripper. In IEEE/RSJ International Conference on Intelligent Robots and Systems, 1997. Submitted. http://citeseer.ist.psu.edu/sudsang97planning.html More
@misc{ sudsang97planning,
author = "A. Sudsang and N. Srinivasa and J. Ponce",
title = "On planning immobilizing grasps for a reconfigurable gripper",
text = "A. Sudsang, N. Srinivasa, and J. Ponce. On planning immobilizing grasps
for a reconfigurable gripper. In IEEE/RSJ International Conference on Intelligent
Robots and Systems, 1997. Submitted.",
year = "1997",
url = "citeseer.ist.psu.edu/sudsang97planning.html" }
Citations (may not include all citations):100 the existence and synthesis of multifinger positive grips - Mishra, Schwartz et al. - 1987
71 Constructing force-closure grasps (context) - Nguyen - 1988
67 Planning optimal grasps (context) - Ferrari, Canny - 1992
66 Kinematic and force analysis of articulated hands (context) - Salisbury - 1982
35 A complete algorithm for synthesizing modular fixtures for p.. (context) - Brost, Goldberg - 1994
32 Planning for modular and hybrid fixtures - Wallack, Canny - 1994
31 On computing threefinger force-closure grasps of polygonal o.. (context) - Ponce, Faverjon - 1995
30 Optimum grip of a polygon (context) - Markenscoff, Papadimitriou - 1989
29 Finding antipodal point grasps on irregularly shaped objects (context) - Chen, Burdick - 1992
28 Quantifier elimination for conjunctions of linear constraint.. (context) - Lassez, Lassez - 1992
27 An extension of screw theory (context) - Ohwovoriole - 1981
26 Querying constraints (context) - Lassez - 1990
25 Some discussion of static gripping and its stability - Mishra, Silver - 1989
23 Towards planning with force constraints: On the mobility of .. (context) - Rimon, Burdick - 1993
22 the existence of modular fixtures - Zhuang, Goldberg et al. - 1994
21 Mechanics of form closure (context) - Lakshminarayana - 1978
19 On computing four-finger equilibrium and force-closure grasp.. - Ponce, Sullivan et al. - 1997
14 A mathematical approach to automatic configuration of machin.. (context) - Chou, Chandru et al. - 1989
13 On computing force-closure grasps of curved two-dimensional .. (context) - Ponce, Stam et al. - 1993
12 Mobility of bodies in contact---ii: How forces are generated.. - Rimon, Burdick - 1994
11 The Utah-MIT Dextrous Hand: Work in progress (context) - Jacobsen, Wood et al. - 1984
11 Grasp stability and feasibility for an arm with an articulat.. (context) - Pollard, Lozano-P'erez - 1990
10 Mobility of bodies in contact---i: A new 2 nd order mobility.. - Rimon, Burdick - 1994
10 Computational modelling of hand-eye coordination (context) - Blake - 1992
10 The kinematics of machinery (context) - Reulaux - 1963
9 Uber Gebiete von Schraubengeschwindigkeiten eines starren Ko.. (context) - Somov - 1900
8 Technical Report ESRC 93-11/RAMP (context) - Mirtich, Canny et al. - 1993
8 Fixturing faceted parts with seven modular struts (context) - Wagner, Zhuang et al. - 1995
7 Computer Science Division (context) - Wallack, Techniques et al. - 1995
7 On planning immobilizing fixtures for threedimensional polyh.. - Ponce - 1996
7 Worksholding -- analysis and planning (context) - Mishra - 1991
6 volume 519 of Lecture Notes in Computer Sciences (context) - Czyzowicz, Stojmenovic et al. - 1991
5 Fixture planning with friction (context) - lee, Cutkosky - 1991
5 fixtures and assembly pallets (context) - Brost, Peters et al. - 1996
Documents on the same site (http://www-cvr.ai.uiuc.edu/ponce_grp/publications/publications.html): More
Primitives, Perceptual Organization and Object Recognition - Forsyth, Malik, Fleck, Ponce (1997) (Correct)
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