Dott. Ing. Maximo Roa
Abstract: Traditional grasp planning uses different assumptions on critical aspects of the object-hand interaction, such as the type of contact or the maximum force that the fingers can apply. Unfortunately, several of these assumptions are very abstract for most of the real grasping and fixturing cases. In this talk, relaxation of the assumptions on punctual contacts and on normalized forces applied at the fingertips will be shown, to move the planning aspects closer to real executions. The second part of the talk will show the integration of a grasp planner with an assembly planner, therefore allowing the generation of realistic assembly plans for 2D structures.