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Integrated Motion and Clasp Planning with Virtual Linking
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-1114-6040
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
2013 (English)In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE , 2013, 3007-3014 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this work, we address the problem of simultaneous clasp and motion planning on unknown objects with holes. Clasping an object enables a rich set of activities such as dragging, toting, pulling and hauling which can be applied to both soft and rigid objects. To this end, we define a virtual linking measure which characterizes the spacial relation between the robot hand and object. The measure utilizes a set of closed curves arising from an approximately shortest basis of the object's first homology group. We define task spaces to perform collision-free motion planing with respect to multiple prioritized objectives using a sampling-based planing method. The approach is tested in simulation using different robot hands and various real-world objects.

Place, publisher, year, edition, pages
IEEE , 2013. 3007-3014 p.
Series
IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0858
Keyword [en]
Closed curve, Collision-free, Real-world objects, Rigid objects, Sampling-based, Spacial relations, Unknown objects, Virtual linking
National Category
Computer Science Robotics
Identifiers
URN: urn:nbn:se:kth:diva-129497DOI: 10.1109/IROS.2013.6696782ISI: 000331367403012Scopus ID: 2-s2.0-84893761545ISBN: 978-146736358-7 (print)OAI: oai:DiVA.org:kth-129497DiVA: diva2:652502
Conference
2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013; Tokyo; Japan; 3 November 2013 through 8 November 2013
Funder
EU, FP7, Seventh Framework Programme, FP7-ERC-279933EU, FP7, Seventh Framework Programme, FP7-ICT-318493Swedish Foundation for Strategic Research
Note

QC 20140318

Available from: 2013-09-30 Created: 2013-09-30 Last updated: 2014-04-10Bibliographically approved

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Pokorny, Florian T.Kragic, Danica

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Stork, Johannes A.Pokorny, Florian T.Kragic, Danica
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