Florian T. Pokorny
Assistant Professor, School of Computer Science and Communication, KTH Royal Institute of TechnologyIntegrated Motion and Clasp Planning with Virtual Linking
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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Download this publicationBibtex
@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},
}