BADGr-A toolbox for box-based approximation, decomposition and GRasping
2012 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 0921-8830, Vol. 60, no 3, 367-376 p.Article in journal (Refereed) Published
In this paper, we conclude our work on shape approximation by box primitives for the goal of simple and efficient grasping. As a main product of our research, we present the BADGr toolbox for Box-based Approximation, Decomposition and Grasping of objects. The contributions of the work presented here are twofold: in terms of shape approximation, we provide an algorithm for creating a 3D box primitive representation to identify object parts from 3D point clouds. We motivate and evaluate this choice particularly towards the task of grasping. As a contribution in the field of grasping, we further provide a grasp hypothesis generation framework that utilizes the chosen box presentation in a flexible manner.
Place, publisher, year, edition, pages
2012. Vol. 60, no 3, 367-376 p.
Part-based grasping, 3D shape approximation, Grasp database generation, Open source software
Computer Science Robotics
IdentifiersURN: urn:nbn:se:kth:diva-92048DOI: 10.1016/j.robot.2011.07.021ISI: 000300866800006ScopusID: 2-s2.0-84856017653OAI: oai:DiVA.org:kth-92048DiVA: diva2:512160
QC 201203262012-03-262012-03-262012-03-26Bibliographically approved