Grasping Objects with Holes: A Topological Approach
2013 (English)In: 2013 IEEE International Conference on Robotics and Automation (ICRA), New York: IEEE , 2013, 1100-1107 p.Conference paper (Refereed)
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.
, IEEE International Conference on Robotics and Automation, ISSN 1050-4729
grasping, manipulation, topology, deformable objects, homology
Computer Science Robotics
Research subject SRA - ICT
IdentifiersURN: urn:nbn:se:kth:diva-129501DOI: 10.1109/ICRA.2013.6630710ISI: 000337617301016ScopusID: 2-s2.0-84887291232ISBN: 978-146735641-1OAI: oai:DiVA.org:kth-129501DiVA: diva2:655668
2013 IEEE International Conference on Robotics and Automation, ICRA 2013; Karlsruhe, Germany, 6-10 May 2013
QC 201401162013-10-132013-09-302014-08-04Bibliographically approved