Grasp planning for constricted parts of objects approximated with quadric surfaces

Tokuo Tsuji, Soichiro Uto, Kensuke Harada, Ryo Kurazume, Tsutomu Hasegawa, Ken'Ichi Morooka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

This paper presents a grasp planner which allows a robot to grasp the constricted parts of objects in our daily life. Even though constricted parts can be grasped more firmly than convex parts, previous planners have not sufficiently focused on grasping this part. We develop techniques for quadric surface approximation, grasp posture generation, and stability evaluation for grasping constricted parts. By modeling an object into multiple quadric surfaces, the planner generates a grasping posture by selecting one-sheet hyperbolic surfaces or two adjacent ellipsoids as constricted parts. When a grasping posture being generated, the grasp stability is evaluated based on the distribution of the stress applied to an object by the fingers. We perform several simulations and experiments to verify the effectiveness of our proposed method.

Original languageEnglish
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2447-2453
Number of pages7
ISBN (Electronic)9781479969340
DOIs
Publication statusPublished - Oct 31 2014
Externally publishedYes
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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