Reactive algorithms for grasping using a modified Parallel Jaw Gripper

M. Teichmann, Bhubaneswar Mishra

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We consider the problem of grasping an unknown polygonal flat object using a parallel jaw gripper. Here we propose to equip a standard gripper with several light-beam sensors (close to each jaw) and describe a reactive grasping algorithm. This is done by probing the object to locate a good grasp position, and then grasping, without moving the object significantly. The goal is to do as little motion as possible to find a grasp. This algorithm can be viewed in a competitive framework, where our algorithm is competing against any algorithm which already knows the object.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Editors Anon
PublisherPubl by IEEE
Pages1931-1936
Number of pages6
Editionpt 3
ISBN (Print)0818653329
StatePublished - 1994
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4) - San Diego, CA, USA
Duration: May 8 1994May 13 1994

Other

OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4)
CitySan Diego, CA, USA
Period5/8/945/13/94

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Grippers
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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Teichmann, M., & Mishra, B. (1994). Reactive algorithms for grasping using a modified Parallel Jaw Gripper. In Anon (Ed.), Proceedings - IEEE International Conference on Robotics and Automation (pt 3 ed., pp. 1931-1936). Publ by IEEE.

Reactive algorithms for grasping using a modified Parallel Jaw Gripper. / Teichmann, M.; Mishra, Bhubaneswar.

Proceedings - IEEE International Conference on Robotics and Automation. ed. / Anon. pt 3. ed. Publ by IEEE, 1994. p. 1931-1936.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Teichmann, M & Mishra, B 1994, Reactive algorithms for grasping using a modified Parallel Jaw Gripper. in Anon (ed.), Proceedings - IEEE International Conference on Robotics and Automation. pt 3 edn, Publ by IEEE, pp. 1931-1936, Proceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4), San Diego, CA, USA, 5/8/94.
Teichmann M, Mishra B. Reactive algorithms for grasping using a modified Parallel Jaw Gripper. In Anon, editor, Proceedings - IEEE International Conference on Robotics and Automation. pt 3 ed. Publ by IEEE. 1994. p. 1931-1936
Teichmann, M. ; Mishra, Bhubaneswar. / Reactive algorithms for grasping using a modified Parallel Jaw Gripper. Proceedings - IEEE International Conference on Robotics and Automation. editor / Anon. pt 3. ed. Publ by IEEE, 1994. pp. 1931-1936
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