2014年
Grasp Planning for Constricted Parts of Objects Approximated with Quadric Surfaces
2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)
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- 開始ページ
- 2447
- 終了ページ
- 2453
- 記述言語
- 英語
- 掲載種別
- 研究論文(国際会議プロシーディングス)
- DOI
- 10.1109/IROS.2014.6942895
- 出版者・発行元
- IEEE
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.
- リンク情報
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- DOI
- https://doi.org/10.1109/IROS.2014.6942895
- DBLP
- https://dblp.uni-trier.de/rec/conf/iros/TsujiUHKHM14
- Web of Science
- https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000349834602084&DestApp=WOS_CPL
- URL
- http://dblp.uni-trier.de/db/conf/iros/iros2014.html#conf/iros/TsujiUHKHM14
- ID情報
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- DOI : 10.1109/IROS.2014.6942895
- ISSN : 2153-0858
- DBLP ID : conf/iros/TsujiUHKHM14
- Web of Science ID : WOS:000349834602084