Caging Polygonal Objects Using Equilateral Three-Finger Hands

Bunis, Hallel A.; Rimon, Elon; Golan, Yoav; Shapiro, Amir

doi:10.1109/lra.2017.2651158

Cited by 8 publications

(2 citation statements)

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“…Most of these methods formulated the planning problem as a constrained optimization problem. [2][3][4][5] Because the constraint definitions are mainly based on object's geometry properties, most of these methods require an accurate object mesh model, which is difficult to be obtained in practical grasping application, and therefore limits these methods to known and familiar objects. In order to deal with unknown targets, some researches discussed generating grasp postures according to object's point cloud, but a known dataset of grasp postures is required.…”

Section: Introductionmentioning

confidence: 99%

Precision Grasp Planning for Multi-Finger Hand to Grasp Unknown Objects

Yan¹,

Deng²,

Chen³

et al. 2019

Robotica

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SummaryDetermining an appropriate grasp configuration for multi-finger grasping is difficult due to the complexity of robotic hands. The multi-finger grasp planning should consider not only geometry constraints of objects but also kinematics and dynamics of robotic hand. In this paper, a precision grasp-planning framework is presented for multi-finger hand to grasp unknown objects. First, the manipulation capabilities of the robotic hand are analyzed. The analysis results are further used as bases for the precision grasp planning. Second, the superquadric (SQ) fitting method is used for approximating unknown object models. Finally, a local–global optimization method is implemented to find appropriate grasp configurations for dexterous hand. The presented planning framework is validated in simulation experiments. Simulation results demonstrated that the presented grasp-planning framework enables the multi-finger hand to grasp unknown objects effectively.

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Section: Introductionmentioning

confidence: 99%

Precision Grasp Planning for Multi-Finger Hand to Grasp Unknown Objects

Yan¹,

Deng²,

Chen³

et al. 2019

Robotica

View full text Add to dashboard Cite

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“…However, the studies were restricted to rigid objects, which cannot be deformed by external force. Most caging studies also consider rigid objects or their equivalents only (e.g., [11][12][13][14]). However, caging deformable objects is conducted in [15,16].…”

Section: Introductionmentioning

confidence: 99%

Caging-based grasping of deformable objects for geometry-based robotic manipulation

2019

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In this paper, we present a novel method for caging-based grasping of deformable objects. This method enables manipulators to grasp objects simply with geometric constraints by using position control of robotic hands, and not through force controls or mechanical analysis. Therefore, this method has cost benefits and algorithmic simplicity. In our previous studies, we mainly focused on caging-based grasping of rigid objects such as 2D/3D primitive-shaped objects. However, considering realistic objects, manipulation of deformable objects is also required frequently. Hence, this study is motivated to manipulate deformable objects, adopting a caging-based grasping approach. We formulate caging-based grasping of deformable objects, and target three types of deformable objects: a rigid object covered with a soft part, a closed-loop structure, and two rigid bodies connected with a string, which can be regarded as primitive shapes. We then derive concrete conditions for grasp synthesis and conduct experimental verification of our proposed method with an industrial manipulator.

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