Optimal grasping points identification for a rotational four-fingered aerogripper

J. Vazquez; M. Giacomini; J. Escareno; E. Rubio; H. Sossa

doi:10.1109/RED-UAS.2015.7441017

Optimal grasping points identification for a rotational four-fingered aerogripper

J. Vazquez, M. Giacomini, J. Escareno, E. Rubio, H. Sossa

Centro de Investigación en Computación (CIC)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

In the present paper, we deal with the grasping aspect regarding reactive object retrieving during fast aerial pick-and-place maneuevers. The paper addresses the problem of the optimal grabbing of an object by means of a 5 degrees of freedom (DoF) gripper. Also, is introduced the optimization framework for the identification of the optimal contact points between the end-effector and the object. In particular, we define an objective functional to evaluate the optimality of the contact points and we propose a preliminary strategy to identify the optimal contact points. Simulations and experimental are presented to support the actual proposal.

Original language	English
Title of host publication	2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	272-277
Number of pages	6
ISBN (Electronic)	9781509017843
DOIs	https://doi.org/10.1109/RED-UAS.2015.7441017
State	Published - 24 Mar 2016
Event	2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015 - Cancun, Mexico Duration: 23 Nov 2015 → 25 Nov 2015

Publication series

Name	2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015

Conference

Conference	2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015
Country/Territory	Mexico
City	Cancun
Period	23/11/15 → 25/11/15

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10.1109/RED-UAS.2015.7441017

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Vazquez, J., Giacomini, M., Escareno, J., Rubio, E., & Sossa, H. (2016). Optimal grasping points identification for a rotational four-fingered aerogripper. In 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015 (pp. 272-277). Article 7441017 (2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RED-UAS.2015.7441017

Vazquez, J. ; Giacomini, M. ; Escareno, J. et al. / Optimal grasping points identification for a rotational four-fingered aerogripper. 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 272-277 (2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015).

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abstract = "In the present paper, we deal with the grasping aspect regarding reactive object retrieving during fast aerial pick-and-place maneuevers. The paper addresses the problem of the optimal grabbing of an object by means of a 5 degrees of freedom (DoF) gripper. Also, is introduced the optimization framework for the identification of the optimal contact points between the end-effector and the object. In particular, we define an objective functional to evaluate the optimality of the contact points and we propose a preliminary strategy to identify the optimal contact points. Simulations and experimental are presented to support the actual proposal.",

author = "J. Vazquez and M. Giacomini and J. Escareno and E. Rubio and H. Sossa",

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Vazquez, J, Giacomini, M, Escareno, J, Rubio, E & Sossa, H 2016, Optimal grasping points identification for a rotational four-fingered aerogripper. in 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015., 7441017, 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015, Institute of Electrical and Electronics Engineers Inc., pp. 272-277, 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015, Cancun, Mexico, 23/11/15. https://doi.org/10.1109/RED-UAS.2015.7441017

Optimal grasping points identification for a rotational four-fingered aerogripper. / Vazquez, J.; Giacomini, M.; Escareno, J. et al.
2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 272-277 7441017 (2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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PY - 2016/3/24

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N2 - In the present paper, we deal with the grasping aspect regarding reactive object retrieving during fast aerial pick-and-place maneuevers. The paper addresses the problem of the optimal grabbing of an object by means of a 5 degrees of freedom (DoF) gripper. Also, is introduced the optimization framework for the identification of the optimal contact points between the end-effector and the object. In particular, we define an objective functional to evaluate the optimality of the contact points and we propose a preliminary strategy to identify the optimal contact points. Simulations and experimental are presented to support the actual proposal.

AB - In the present paper, we deal with the grasping aspect regarding reactive object retrieving during fast aerial pick-and-place maneuevers. The paper addresses the problem of the optimal grabbing of an object by means of a 5 degrees of freedom (DoF) gripper. Also, is introduced the optimization framework for the identification of the optimal contact points between the end-effector and the object. In particular, we define an objective functional to evaluate the optimality of the contact points and we propose a preliminary strategy to identify the optimal contact points. Simulations and experimental are presented to support the actual proposal.

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Vazquez J, Giacomini M, Escareno J, Rubio E, Sossa H. Optimal grasping points identification for a rotational four-fingered aerogripper. In 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015. Institute of Electrical and Electronics Engineers Inc. 2016. p. 272-277. 7441017. (2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015). doi: 10.1109/RED-UAS.2015.7441017

Optimal grasping points identification for a rotational four-fingered aerogripper

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