Grasp planning for constricted parts of objects approximated with quadric surfaces

Tsuji, Tokuo; Uto, Soichiro; Harada, Kensuke; Kurazume, Ryo; Hasegawa, Tsutomu; Morooka, Ken’ichi

doi:10.1109/iros.2014.6942895

Cited by 20 publications

(5 citation statements)

References 17 publications

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“…For surface segmentation-based grasp planning, Harada et al [24] clustered triangle meshes by using a parameter denoting softness of contacts and implemented grasp planning for grippers with soft finger pads. Tsuji et al [37] used multilevel clustering [38] to find the concavity and convexity of mesh models, and used stress distribution models to plan stable grasps. Hang et al [39] also used multilevel clustering to plan grasps.…”

Section: B Preprocessing Mesh Modelsmentioning

confidence: 99%

Planning Grasps With Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes

2021

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This article develops model-based grasp planning algorithms. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering computer aided design (CAD) models of target objects. The developed algorithms can stably find many high-quality grasps, with satisfying precision and little dependency on the quality of CAD models. The undergoing core technique is superimposed segmentation, which preprocesses a mesh model by peeling it into superimposed facets. The algorithms use the facets to locate contacts and synthesize grasp poses for popular industrial end-effectors. Several tunable parameters are prepared to adapt the algorithms to meet various requirements. The experimental section studies the influence of the tunable parameters and analyzes the cost, precision, and robustness of the proposed algorithms and their planned grasps, with both simulations and real-world systems. Besides, the proposed algorithms are applicable to mesh models reconstructed from point clouds obtained by depth sensors. Some experiments and analysis are also carried out to study and demonstrate the ability. Index Terms-Grasping, grippers and other end-effectors, manipulation planning. I. INTRODUCTIONT HIS article develops algorithms to plan grasping configurations automatically. It focuses on industrial end-effectors, and plans grasp poses for these end-effectors considering computer aided design (CAD) models of target objects.Developing grasp planning algorithms is vital to manufacturing using "teachingless" robotic manipulators. Modern robotic manipulation systems use manually annotated or pretaught grasp configurations to perform specific tasks, which is not only costly Manuscript

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Section: B Preprocessing Mesh Modelsmentioning

confidence: 99%

Planning Grasps With Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes

2021

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“…The base region for a tray is a set of base positions where the mobile manipulator is able to reach all the targets in the tray, with avoiding self-collision and the collision with the environment. Firstly, we prepare stable grasping poses with respect to the object for every object in the tray, using a grasp planner [18], [19], [20], [21]. Then sample base poses (x i , y i , φ) in front of the target tray, as illustrated in Fig.…”

Section: Base Sequence Planning a Base Region Calculationmentioning

confidence: 99%

Planning an Efficient and Robust Base Sequence for a Mobile Manipulator Performing Multiple Pick-and-place Tasks

Harada

Wan

et al. 2020

Preprint

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In this paper, we address efficiently and robustly collecting objects stored in different trays using a mobile manipulator. A resolution complete method, based on precomputed reachability database, is proposed to explore collisionfree inverse kinematics (IK) solutions and then a resolution complete set of feasible base positions can be determined. This method approximates a set of representative IK solutions that are especially helpful when solving IK and checking collision are treated separately. For real world applications, we take into account the base positioning uncertainty and plan a sequence of base positions that reduce the number of necessary base movements for collecting the target objects, the base sequence is robust in that the mobile manipulator is able to complete the part-supply task even there is certain deviation from the planned base positions. Our experiments demonstrate both the efficiency compared to regular base sequence and the feasibility in real world applications.

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“…We use the grasp planning methods presented in [56] [63] to plan grasping poses, and use the methods presented in [64] [65] [66] [67] to plan placements and regrasp sequences.…”

Section: B Picking-up and Manipulationmentioning

confidence: 99%

A Mechanical Screwing Tool for 2-Finger Parallel Grippers -- Design, Optimization, and Manipulation Policies

Hu,

Wan,

Koyama

et al. 2020

Preprint

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This paper develops a mechanical tool as well as its manipulation policies for 2-finger parallel robotic grippers. It primarily focuses on a mechanism that converts the gripping motion of 2-finger parallel grippers into a continuous rotation to realize tasks like fastening screws. The essential structure of the tool comprises a Scissor-Like Element (SLE) mechanism and a double-ratchet mechanism. They together convert repeated linear motion into continuous rotating motion. At the joints of the SLE mechanism, elastic elements are attached to provide resisting force for holding the tool as well as for producing torque output when a gripper releases the tool. The tool is entirely mechanical, allowing robots to use the tool without any peripherals and power supply. The paper presents the details of the tool design, optimizes its dimensions and effective stroke lengths, and studies the contacts and forces to achieve stable grasping and screwing. Besides the design, the paper develops manipulation policies for the tool. The policies include visual recognition, picking-up and manipulation, and exchanging tooltips. The developed tool produces clockwise rotation at the front end and counter-clockwise rotation at the back end. Various tooltips can be installed at both two ends. Robots may employ the developed manipulation policies to exchange the tooltips and rotating directions following the needs of specific fastening or loosening tasks. Robots can also reorient the tool using pickand-place or handover, and move the tool to work poses using the policies. The designed tool, together with the developed manipulation policies, are analyzed and verified in several realworld applications. The tool is small, cordless, convenient, and has good robustness and adaptability.

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Grasp planning for constricted parts of objects approximated with quadric surfaces

Cited by 20 publications

References 17 publications

Planning Grasps With Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes

Planning Grasps With Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes

Planning an Efficient and Robust Base Sequence for a Mobile Manipulator Performing Multiple Pick-and-place Tasks

A Mechanical Screwing Tool for 2-Finger Parallel Grippers -- Design, Optimization, and Manipulation Policies

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