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Grasping Objects with Holes: A Topological Approach
Computer Vision and Active Perception Lab, Centre for Autonomous Systems, School of Computer Science and Communication, KTH Royal Institute of Technology, Stockholm, Sweden.
Computer Vision and Active Perception Lab, Centre for Autonomous Systems, School of Computer Science and Communication, KTH Royal Institute of Technology, Stockholm, Sweden. (AASS)ORCID iD: 0000-0003-3958-6179
Computer Vision and Active Perception Lab, Centre for Autonomous Systems, School of Computer Science and Communication, KTH Royal Institute of Technology, Stockholm, Sweden.
2013 (English)In: 2013 IEEE International Conference on Robotics and Automation, IEEE conference proceedings, 2013, p. 1100-1107Conference 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
IEEE conference proceedings, 2013. p. 1100-1107
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Computer Sciences Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:oru:diva-71568DOI: 10.1109/ICRA.2013.6630710ISI: 000337617301016Scopus ID: 2-s2.0-84887291232OAI: oai:DiVA.org:oru-71568DiVA, id: diva2:1280216
Conference
IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6-10, 2013
Available from: 2019-01-18 Created: 2019-01-18 Last updated: 2019-01-23Bibliographically approved

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Stork, Johannes Andreas

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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