# Grasping Objects with Holes: A Topological Approach

Florian T. Pokorny, Johannes A. Stork, Danica Kragic
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2013

## Abstract

This work proposes a topologically inspired approach for generating robot grasps on objects with holes'. Starting from a noisy point-cloud, we generate a simplicial representation of an object of interest and use a recently developed method for approximating shortest homology generators to identify graspable loops. To control the movement of the robot hand, a topologically motivated coordinate system is used in order to wrap the hand around such loops. Finally, another concept from topology -- namely the Gauss linking integral -- is adapted to serve as evidence for secure caging grasps after a grasp has been executed. We evaluate our approach in simulation on a Barrett hand using several target objects of different sizes and shapes and present an initial experiment with real sensor data.

## Bibtex

@inproceedings{pokorny2013a, author = {Pokorny, Florian T. and Stork, Johannes A. and Kragic, Danica}, booktitle = {Proc. of the IEEE International Conference on Robotics and Automation (ICRA)}, title = {Grasping Objects with Holes: A Topological Approach}, year = {2013}, address = {Karlsruhe, Germany}, } `