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Cooperative grasping through topological object representation
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0001-9362-0644
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-7309-8086
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-2965-2953
2015 (English)In: IEEE-RAS International Conference on Humanoid Robots, IEEE Computer Society, 2015, 685-692 p.Conference paper (Refereed)Text
Abstract [en]

We present a cooperative grasping approach based on a topological representation of objects. Using point cloud data we extract loops on objects suitable for generating entanglement. We use the Gauss Linking Integral to derive controllers for multi-agent systems that generate hooking grasps on such loops while minimizing the entanglement between robots. The approach copes well with noisy point cloud data, it is computationally simple and robust. We demonstrate the method for performing object grasping and transportation, through a hooking maneuver, with two coordinated NAO robots.

Place, publisher, year, edition, pages
IEEE Computer Society, 2015. 685-692 p.
Keyword [en]
Anthropomorphic robots, Robots, Topology, Noisy point, Object grasping, Point cloud data, Topological objects, Topological representation, Multi agent systems
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-181529DOI: 10.1109/HUMANOIDS.2014.7041437ScopusID: 2-s2.0-84945179216ISBN: 9781479971749OAI: oai:DiVA.org:kth-181529DiVA: diva2:913006
Conference
2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014, 18 November 2014 through 20 November 2014
Note

QC 20160318

Available from: 2016-03-18 Created: 2016-02-02 Last updated: 2016-03-18Bibliographically approved

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Marzinotto, AlejandroStork, Johannes A.Dimarogonas, Dino V.Kragic Jensfelt, Danica
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