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Cooperative grasping through topological object representation
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.
Computer Vision and Active Perception Lab., Centre for Autonomous Systems, School of Computer Science and Communication, KTH Royal Institute of Technology, Stockholm, Sweden.
2014 (English)In: 2014 IEEE-RAS International Conference on Humanoid Robots, IEEE, 2014, p. 685-692Conference paper, Published paper (Refereed)
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, 2014. p. 685-692
Series
IEEE-RAS International Conference on Humanoid Robots, ISSN 2164-0572, E-ISSN 2164-0580
National Category
Computer Sciences Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:oru:diva-71563DOI: 10.1109/HUMANOIDS.2014.7041437ISI: 000392843800110Scopus ID: 2-s2.0-84945179216OAI: oai:DiVA.org:oru-71563DiVA, id: diva2:1280238
Conference
14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, November 18-20, 2014
Funder
Swedish Research Council
Note

Funding agency: European Union Project RECON-FIG (600825) and Project FLEXBOT (279933)

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

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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