Florian T. Pokorny
Assistant Professor, School of Computer Science and Communication, KTH Royal Institute of TechnologyGrasping Objects with Holes: A Topological Approach
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},
}