Integrated Motion and Clasp Planning with Virtual Linking

Johannes A. Stork, Florian T. Pokorny, Danica Kragic
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013

Abstract

In this work, we address the problem of simultaneous clasp and motion planning on unknown objects with holes. Clasping an object enables a rich set of activities such as dragging, toting, pulling and hauling which can be applied to both soft and rigid objects. To this end, we define a virtual linking measure which characterizes the spacial relation between the robot hand and object. The measure utilizes a set of closed curves arising from an approximately shortest basis of the object's first homology group. We define task spaces to perform collision-free motion planing with respect to multiple prioritized objectives using a sampling-based planing method. The approach is tested in simulation using different robot hands and various real-world objects.

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Bibtex

@inproceedings{stork2013b, author = {Stork, Johannes A. and Pokorny, Florian T. and Kragic, Danica}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, title = {Integrated Motion and Clasp Planning with Virtual Linking}, year = {2013}, address = {Tokyo, Japan}, url = {http://www.csc.kth.se/~fpokorny/static/publications/stork2013b.pdf}, }