TY - GEN
T1 - Grasp planning for constricted parts of objects approximated with quadric surfaces
AU - Tsuji, Tokuo
AU - Uto, Soichiro
AU - Harada, Kensuke
AU - Kurazume, Ryo
AU - Hasegawa, Tsutomu
AU - Morooka, Ken'Ichi
PY - 2014/10/31
Y1 - 2014/10/31
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84911499327&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911499327&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6942895
DO - 10.1109/IROS.2014.6942895
M3 - Conference contribution
AN - SCOPUS:84911499327
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2447
EP - 2453
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -