A fast and robust grasp planner for arbitrary 3D objects

Borst, Christoph; Fischer, Max; Hirzinger, Gerd

doi:10.1109/robot.1999.770384

Cited by 134 publications

(65 citation statements)

References 8 publications

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“…Consider three wrenches ω i (i = 1, .., 3) expressed in cylindrical coordinates as ω i = (cos α i , sin α i , τ i ), α i being the angle that indicates the direction of f i . The distance D from the origin to the face (plane) of P 1 determined by ω 1 , ω 2 and ω 3 can be written as a function of the torque of one of them; for instance, as a function of τ 3 of ω 3 , we obtain:…”

Section: A In the Wrench Spacementioning

confidence: 99%

“…Proof: The proof is straightforward from the property 3 of the distance in equation (3). If constants k 2 , k 4 and k 6 are substituted by their expressions from equations (5), (7) and (9), then when τ 3 → ±∞ the distance between the origin and f 1 f 2 is obtained.…”

Section: B In the Force Spacementioning

confidence: 99%

“…A criterion for grasp quality evaluation must be chosen, and several ones have therefore been proposed. Ferrari and Canny [6] proposed a criterion based on the maximum wrench that the grasp can safely resist, and algorithms for grasp synthesis based on this criterion were proposed by Pollard [13] and Borst et al [3], though they do not generate optimal grasps. Ponce et al [11] proposed the minimization of the distance between the object's center of mass and the geometric center of the grasping points.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

On 2D 4-finger frictionless optimal grasps

Cornella

Suárez

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

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Abstract-The paper deals with the determination of optimal force-closure grasps for 2D polygonal objects. The problem is analyzed and some intrinsic properties of grasps are determined. The approach is applied to the determination of the position of a fourth finger given the positions of three other fingers. Moreover, the range of solutions that allow the force-closure property as well as the optimal value are analytically determined, checking only four points in the worst case. The algorithm has been implemented and numerical examples are included in the paper.

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Section: A In the Wrench Spacementioning

confidence: 99%

Section: B In the Force Spacementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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On 2D 4-finger frictionless optimal grasps

Cornella

Suárez

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

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“…Works considering a 3D object description have normally used a model of the object, obtained or defined in an off-line stage [1,23]; in other works [25], a grasping axis is computed using an octree-based reconstruction of the object. Alternatively, some authors use heuristics to reduce the number of candidates during the grasp synthesis and obtain a good grasp in short time [4]; others approximate an object model with a set of shape primitives -such as cylinders, boxes, or cones-and use rules, based on those primitives, to generate grasp pre-shapes and starting positions [26]. Quality measures for grasp analysis have been described in several works [5,11].…”

Section: Roboticsmentioning

confidence: 99%

Biologically-inspired 3D grasp synthesis based on visual exploration

et al. 2008

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Object grasping is a typical human ability which is widely studied from both a biological and an engineering point of view. This paper presents an approach to grasp synthesis inspired by the human neurophysiology of actionoriented vision. Our grasp synthesis method is built upon an architecture which, taking into account the differences between robotic and biological systems, proposes an adaptation of brain models to the peculiarities of robotic setups. The architecture modularity allows for scalability and integration of complex robotic tasks. The grasp synthesis is designed as integrated with the extraction of a 3D object description, so that the object visual analysis is actively driven by the needs of the grasp synthesis: visual reconstruction is performed incrementally and selectively on the regions of the object that are considered more interesting for grasping.

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“…We assume that a preliminary grasp planning phase determines the contact points and internal forces to be applied according to some criteria, e.g., the one presented in [20] to guarantee force closure [15]. The grasp planner returns N contact points, whose positions in B are denoted bȳ p 1 .…”

Section: Introductionmentioning

confidence: 99%

The flying hand: A formation of UAVs for cooperative aerial tele-manipulation

Gioioso

Franchi

Salvietti

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-The flying hand is a robotic hand consisting of a swarm of UAVs able to grasp an object where each UAV contributes to the grasping task with a single contact point at the tooltip. The swarm of robots is teleoperated by a human hand whose fingertip motions are tracked, e.g., using an RGB-D camera. We solve the kinematic dissimilarity of this unique master-slave system using a multi-layered approach that includes: a hand interpreter that translates the fingertip motion in a desired motion for the object to be manipulated; a mapping algorithm that transforms the desired object motions into a suitable set of virtual points deviating from the planned contact points; a compliant force control for the case of quadrotor UAVs that allows to use them as indirect 3D force effectors. Visual feedback is also used as sensory substitution technique to provide a hint on the internal forces exerted on the object. We validate the approach with several human-inthe-loop simulations including the full physical model of the object, contact points and UAVs.

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A fast and robust grasp planner for arbitrary 3D objects

Cited by 134 publications

References 8 publications

On 2D 4-finger frictionless optimal grasps

On 2D 4-finger frictionless optimal grasps

Biologically-inspired 3D grasp synthesis based on visual exploration

The flying hand: A formation of UAVs for cooperative aerial tele-manipulation

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