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Integrated motion and clasp planning with virtual linking
Computer Vision and Active Perception Lab, Centre for Autonomous Systems, CSC, KTH Royal Institute of Technology, Stockholm, Sweden. (AASS)ORCID iD: 0000-0003-3958-6179
Computer Vision and Active Perception Lab, Centre for Autonomous Systems, CSC, KTH Royal Institute of Technology, Stockholm, Sweden.
Computer Vision and Active Perception Lab, Centre for Autonomous Systems, CSC, KTH Royal Institute of Technology, Stockholm, Sweden.
2013 (English)In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE Press, 2013, p. 3007-3014Conference paper, Published paper (Refereed)
Abstract [en]

In this work, we address the problem of simultaneous clasp and motion planning on unknown objects with holes. Clasping an object enables a rich set of activities such as dragging, toting, pulling and hauling which can be applied to both soft and rigid objects. To this end, we define a virtual linking measure which characterizes the spacial relation between the robot hand and object. The measure utilizes a set of closed curves arising from an approximately shortest basis of the object's first homology group. We define task spaces to perform collision-free motion planing with respect to multiple prioritized objectives using a sampling-based planing method. The approach is tested in simulation using different robot hands and various real-world objects.

Place, publisher, year, edition, pages
IEEE Press, 2013. p. 3007-3014
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858, E-ISSN 2153-0866
National Category
Computer Sciences Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:oru:diva-71566DOI: 10.1109/IROS.2013.6696782ISI: 000331367403012Scopus ID: 2-s2.0-84893761545OAI: oai:DiVA.org:oru-71566DiVA, id: diva2:1280237
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon (IROS 2013), Tokyo, Japan, November 3-8, 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