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A Topology-based Object Representation for Clasping, Latching and Hooking
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
2015 (English)In: IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2013), 2015, p. 138-145Conference paper, Published paper (Refereed)
Abstract [en]

We present a loop-based topological object representation for objects with holes. The representation is used to model object parts suitable for grasping, e.g. handles, and it incorporates local volume information about these. Furthermore, we present a grasp synthesis framework that utilizes this representation for synthesizing caging grasps that are robust under measurement noise. The approach is complementary to a local contact-based force-closure analysis as it depends on global topological features of the object. We perform an extensive evaluation with four robotic hands on synthetic data. Additionally, we provide real world experiments using a Kinect sensor on two robotic platforms: a Schunk dexterous hand attached to a Kuka robot arm as well as a Nao humanoid robot. In the case of the Nao platform, we provide initial experiments showing that our approach can be used to plan whole arm hooking as well as caging grasps involving only one hand.

Place, publisher, year, edition, pages
2015. p. 138-145
Keywords [en]
clasping, latching, hooking, grasping, robotic manipulation, topology, linking number
National Category
Computer Sciences Robotics
Research subject
SRA - ICT
Identifiers
URN: urn:nbn:se:kth:diva-129494DOI: 10.1109/HUMANOIDS.2013.7029968Scopus ID: 2-s2.0-84937872868OAI: oai:DiVA.org:kth-129494DiVA, id: diva2:655676
Conference
IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2013); Atlanta, Georgia, USA, 15-17 October, 2013
Funder
EU, FP7, Seventh Framework Programme, FP7-ERC-279933Swedish Research CouncilSwedish Foundation for Strategic Research
Note

QC 20151211

Available from: 2013-10-13 Created: 2013-09-30 Last updated: 2018-01-11Bibliographically approved

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Pokorny, Florian T.Kragic, Danica

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