Integrated Motion and Clasp Planning with Virtual Linking
2013 (English)In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE , 2013, 3007-3014 p.Conference paper (Refereed)
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.
, IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0858
Closed curve, Collision-free, Real-world objects, Rigid objects, Sampling-based, Spacial relations, Unknown objects, Virtual linking
Computer Science Robotics
IdentifiersURN: urn:nbn:se:kth:diva-129497DOI: 10.1109/IROS.2013.6696782ISI: 000331367403012ScopusID: 2-s2.0-84893761545ISBN: 978-146736358-7OAI: oai:DiVA.org:kth-129497DiVA: diva2:652502
2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013; Tokyo; Japan; 3 November 2013 through 8 November 2013
FunderEU, FP7, Seventh Framework Programme, FP7-ERC-279933EU, FP7, Seventh Framework Programme, FP7-ICT-318493Swedish Foundation for Strategic Research
QC 201403182013-09-302013-09-302014-04-10Bibliographically approved