Florian T. Pokorny
Assistant Professor, School of Computer Science and Communication, KTH Royal Institute of TechnologyA Topology-based Object Representation for Clasping, Latching and Hooking
In IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2013
Abstract
We present a loop-based topological object representation for objects
with holes. The representation is used to model object parts suitable for
grasping, e.g. handles, and it incorporates local volume information
about these. Furthermore, we present a grasp synthesis framework that
utilizes this representation for synthesizing caging grasps that are
robust under measurement noise. The approach is complementary to a local
contact-based force-closure analysis as it depends on global topological
features of the object.
We perform an extensive evaluation with four robotic hands on synthetic
data. Additionally, we provide real world experiments using a Kinect
sensor on two robotic platforms: a Schunk dexterous hand attached to a
Kuka robot arm as well as a Nao humanoid robot. In the case of the Nao
platform, we provide initial experiments showing that our approach can
be used to plan whole arm hooking as well as caging grasps involving only one hand.
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Download this publicationBibtex
@inproceedings{stork2013c,
author = {Stork, Johannes A. and Pokorny, Florian T. and Kragic, Danica},
booktitle = {IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS)},
title = {A Topology-based Object Representation for Clasping, Latching and Hooking},
year = {2013},
address = {Atlanta, USA},
url = {http://www.csc.kth.se/~fpokorny/static/publications/stork2013c.pdf}
}