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Grasping Objects with Holes: A Topological Approach
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.ORCID-id: 0000-0003-1114-6040
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.ORCID-id: 0000-0003-2965-2953
2013 (engelsk)Inngår i: 2013 IEEE International Conference on Robotics and Automation (ICRA), New York: IEEE , 2013, s. 1100-1107Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

This work proposes a topologically inspired approach for generating robot grasps on objects with `holes'. Starting from a noisy point-cloud, we generate a simplicial representation of an object of interest and use a recently developed method for approximating shortest homology generators to identify graspable loops. To control the movement of the robot hand, a topologically motivated coordinate system is used in order to wrap the hand around such loops. Finally, another concept from topology -- namely the Gauss linking integral -- is adapted to serve as evidence for secure caging grasps after a grasp has been executed. We evaluate our approach in simulation on a Barrett hand using several target objects of different sizes and shapes and present an initial experiment with real sensor data.

sted, utgiver, år, opplag, sider
New York: IEEE , 2013. s. 1100-1107
Serie
IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Emneord [en]
grasping, manipulation, topology, deformable objects, homology
HSV kategori
Forskningsprogram
SRA - Informations- och kommunikationsteknik
Identifikatorer
URN: urn:nbn:se:kth:diva-129501DOI: 10.1109/ICRA.2013.6630710ISI: 000337617301016Scopus ID: 2-s2.0-84887291232ISBN: 978-146735641-1 (tryckt)OAI: oai:DiVA.org:kth-129501DiVA, id: diva2:655668
Konferanse
2013 IEEE International Conference on Robotics and Automation, ICRA 2013; Karlsruhe, Germany, 6-10 May 2013
Merknad

QC 20140116

Tilgjengelig fra: 2013-10-13 Laget: 2013-09-30 Sist oppdatert: 2018-01-11bibliografisk kontrollert

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Pokorny, Florian T.Kragic, Danica

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