TY - GEN
T1 - Optimal grasping points identification for a rotational four-fingered aerogripper
AU - Vazquez, J.
AU - Giacomini, M.
AU - Escareno, J.
AU - Rubio, E.
AU - Sossa, H.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2016/3/24
Y1 - 2016/3/24
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.
UR - http://www.scopus.com/inward/record.url?scp=84965123227&partnerID=8YFLogxK
U2 - 10.1109/RED-UAS.2015.7441017
DO - 10.1109/RED-UAS.2015.7441017
M3 - Contribución a la conferencia
AN - SCOPUS:84965123227
T3 - 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015
SP - 272
EP - 277
BT - 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015
Y2 - 23 November 2015 through 25 November 2015
ER -