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A topology-based object representation for clasping, latching and hooking
Centre for Autonomous Systems, Computer Vision and Active Perception Lab, School of Computer Science and Communication, KTH Royal Institute of Technology, Stockholm, Sweden. (AASS)ORCID iD: 0000-0003-3958-6179
Centre for Autonomous Systems, Computer Vision and Active Perception Lab, School of Computer Science and Communication, KTH Royal Institute of Technology, Stockholm, Sweden.
Centre for Autonomous Systems, Computer Vision and Active Perception Lab, School of Computer Science and Communication, KTH Royal Institute of Technology, Stockholm, Sweden.
2013 (English)In: 2013 13TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), IEEE conference proceedings, 2013, 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
IEEE conference proceedings, 2013. p. 138-145
Series
IEEE-RAS International Conference on Humanoid Robots, ISSN 2164-0572
National Category
Computer Sciences Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:oru:diva-71567DOI: 10.1109/HUMANOIDS.2013.7029968ISI: 000396584300022Scopus ID: 2-s2.0-84937872868OAI: oai:DiVA.org:oru-71567DiVA, id: diva2:1280221
Conference
IEEE-RAS International Conference on Humanoid Robots, Atlanta, United States, October 15-17, 2013
Note

Best Conference Paper Award Finalist

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
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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
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