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• W9702114 abstract "Grasping a deformable object must maintain its equilibrium before and after the induced deformation. This paper introduces a two-finger grasping strategy that specifies desired finger displacements rather than grasping forces. The forces are computed using the finite element method (FEM). Shown to be equal and opposite, they act toward the other finger contact in a way to squeeze the object. To achieve a grasp, the forces have to be tested for staying inside the preand postdeformation contact friction cones. This test could be as expensive as solving a large linear system, if the deformed shape is computed. We present an algorithm that performs a grasp test in O(n) time, where n is the number of discretization vertices under FEM, after obtaining the spectral decomposition of the object’s stiffness matrix in O(n3) time. All grasps (up to the discretization) can be found in additional O(n2) time. Robot grasping experiments have been conducted on thin 21 2 D objects." @default.
• W9702114 created "2016-06-24" @default.
• W9702114 creator A5000788715 @default.
• W9702114 date "2018-08-10" @default.
• W9702114 modified "2023-09-23" @default.
• W9702114 title "Displacement-based two-finger grasping of deformable planar objects" @default.
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• W9702114 doi "https://doi.org/10.31274/etd-180810-2876" @default.
• W9702114 hasPublicationYear "2018" @default.
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