Grasp planning using quadric surface approximation for parallel grippers

Soichiro Uto, Tokuo Tsuji, Kensuke Harada, Ryo Kurazume, Tsutomu Hasegawa

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

We propose a planning method for a gripper grasping daily life objects using quadric surface approximation. This method can decompose the objects to the approximate quadric surfaces. The planner can find regions for contacting fingers quickly so that the gripper grasps the object firmly. The planner evaluates the grasp stability for these postures. The previous evaluation method in surface contact considers contact area only. We extend the evaluation method for considering stress distribution. We performed simulation and verified the effectiveness of our grasp planning.

Original languageEnglish
Pages1611-1616
Number of pages6
DOIs
Publication statusPublished - Jan 1 2013
Event2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China
Duration: Dec 12 2013Dec 14 2013

Other

Other2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
CountryChina
CityShenzhen
Period12/12/1312/14/13

Fingerprint

Grippers
Hand Strength
Planning
Stress concentration
Posture
Fingers

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Biotechnology

Cite this

Uto, S., Tsuji, T., Harada, K., Kurazume, R., & Hasegawa, T. (2013). Grasp planning using quadric surface approximation for parallel grippers. 1611-1616. Paper presented at 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China. https://doi.org/10.1109/ROBIO.2013.6739697

Grasp planning using quadric surface approximation for parallel grippers. / Uto, Soichiro; Tsuji, Tokuo; Harada, Kensuke; Kurazume, Ryo; Hasegawa, Tsutomu.

2013. 1611-1616 Paper presented at 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China.

Research output: Contribution to conferencePaper

Uto, S, Tsuji, T, Harada, K, Kurazume, R & Hasegawa, T 2013, 'Grasp planning using quadric surface approximation for parallel grippers', Paper presented at 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China, 12/12/13 - 12/14/13 pp. 1611-1616. https://doi.org/10.1109/ROBIO.2013.6739697
Uto S, Tsuji T, Harada K, Kurazume R, Hasegawa T. Grasp planning using quadric surface approximation for parallel grippers. 2013. Paper presented at 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China. https://doi.org/10.1109/ROBIO.2013.6739697
Uto, Soichiro ; Tsuji, Tokuo ; Harada, Kensuke ; Kurazume, Ryo ; Hasegawa, Tsutomu. / Grasp planning using quadric surface approximation for parallel grippers. Paper presented at 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China.6 p.
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