On computing task-oriented grasps

On computing task-oriented grasps

This paper addresses the problem of optimal grasping of an object with a multi-fingered robotic hand for accomplishing a given task. The task is first demonstrated by a human operator and its force/torque requirements are captured through the usage of a sensorized tool. The grasp quality is computed through a task compatibility criterion. Grasp synthesis is then formulated as a single constrain...

On computing optimal planar grasps

The quality of a grasp can often be measured as the magnitude within which any external wrench is resistible by \unit grasp force". In this paper, we present a numerical algorithm to compute the optimal grasp on a simple polygon, given contact forces of unit total magnitude. Forces are compared with torques over the radius of gyration of the polygon. We also address a grasp optimality criterion...

Computing Deform Closure Grasps

In prior work, we extended the well-known form closure grasp framework for rigid parts to a class of deformable parts, modeled as frictionless polygons with a finite element mesh and given stiffness matrix. We define the D-space (deformationspace) of a part as the C-space of all its mesh nodes and deform closure in terms of the work needed to release the part from a set of finger contacts. In t...

Optimization Task Scheduling Algorithm in Cloud Computing

Since software systems play an important role in applications more than ever, the security has become one of the most important indicators of softwares.Cloud computing refers to services that run in a distributed network and are accessible through common internet protocols. Presenting a proper scheduling method can lead to efficiency of resources by decreasing response time and costs. This rese...

Computing Immobilizing Grasps of Polygonal Parts