Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Grasping Objects with Holes: A Topological Approach
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.
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 International Conference on Robotics and Automation (ICRA), New York: IEEE , 2013, 1100-1107 p.Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
New York: IEEE , 2013. 1100-1107 p.
Series
IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keyword [en]
grasping, manipulation, topology, deformable objects, homology
National Category
Computer Science Robotics
Research subject
SRA - ICT
Identifiers
URN: urn:nbn:se:kth:diva-129501DOI: 10.1109/ICRA.2013.6630710ISI: 000337617301016Scopus ID: 2-s2.0-84887291232ISBN: 978-146735641-1 (print)OAI: oai:DiVA.org:kth-129501DiVA: diva2:655668
Conference
2013 IEEE International Conference on Robotics and Automation, ICRA 2013; Karlsruhe, Germany, 6-10 May 2013
Note

QC 20140116

Available from: 2013-10-13 Created: 2013-09-30 Last updated: 2014-08-04Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Authority records BETA

Pokorny, Florian T.Kragic, Danica

Search in DiVA

By author/editor
Pokorny, Florian T.Stork, Johannes A.Kragic, Danica
By organisation
Computer Vision and Active Perception, CVAPCentre for Autonomous Systems, CAS
Computer ScienceRobotics

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 62 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf