Unions of balls for shape approximation in robot grasping

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 1592-1599

  Przybylski, Markus ^a   Asfour, Tamim ^a   Dillmann, Rüdiger ^a  

^a KARLSRUHE INSTITUTE OF TECHNOLOGY   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

3D OBJECT; ANTHROPOMORPHIC HAND; FORCE-CLOSURE; GRASP PLANNING; HAND KINEMATICS; HARD PROBLEMS; HIGH DIMENSIONAL SPACES; HUMANOID ROBOT; LOCAL SYMMETRY; MATERIAL PROPERTY; MEDIAL AXIS; OBJECT GEOMETRIES; OBJECT MODEL; ROBOT GRASPING; SERVICE ROBOTS; SHAPE APPROXIMATION; SIZE AND SHAPE;

ANTHROPOMORPHIC ROBOTS; THREE DIMENSIONAL;

INTELLIGENT ROBOTS;

EID: 78651492627     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5653520     Document Type: Conference Paper

References (27)

1. Y. H. Liu, M. Lam, and D. Ding, "A complete and efficient algorithm for searching 3-d form-closure grasps in discrete domain," IEEE Transactions on Robotics, vol. 20, no. 5, pp. 805-816, 2004.
2. K. B. Shimoga, "Robot grasp synthesis algorithms: A survey," The Int. Journal of Humanoid Robotics, vol. 15, no. 3, pp. 230-266, 1996.
3. A. Morales, E. Chinellato, A. H. Fagg, and A. P. del Pobil, "Using experience for assessing grasp reliability," Int. Journal of Humanoid Robotics, vol. 1, no. 4, pp. 671-691, 2004.
4. Y. Li, J. L. Fu, and N. S. Pollard, "Data-driven grasp synthesis using shape matching and task-based pruning," Visualization and Computer Graphics, IEEE Transactions on, vol. 13, no. 4, pp. 732-747, July-Aug. 2007.
5. A. T. Miller and P. K. Allen, "Graspit! a versatile simulator for robotic grasping," Robotics Automation Magazine, IEEE, vol. 11, no. 4, pp. 110-122, Dec. 2004.
6. R. Diankov and J. Kuffner, "Openrave: A planning architecture for autonomous robotics," Robotics Institute, Tech. Rep. CMU-RI-TR-08-34, July 2008. [Online]. Available: http://openrave.programmingvision.com
7. [Online]. Available: http://www.sourceforge.net/projects/simox
8. D. Berenson, R. Diankov, K. Nishiwaki, S. Kagami, and J. Kuffner, "Grasp planning in complex scenes," in Humanoid Robots, 2007 7th IEEE-RAS International Conference on, 29 2007-Dec. 1 2007, pp. 42-48.
9. D. Berenson and S. S. Srinivasa, "Grasp synthesis in cluttered environments for dexterous hands," in Humanoid Robots, 2008. Humanoids 2008. 8th IEEE-RAS International Conference on, Dec. 2008, pp. 189-196.
10. N. Vahrenkamp, M. Do, T. Asfour, and R. Dillmann, "Integrated grasp and motion planning," in ICRA, Anchorage, USA, Mai 2010.
11. M. Ciocarlie, C. Goldfeder, and P. Allen, "Dimensionality reduction for hand-independent dexterous robotic grasping," in Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, 29 2007-Nov. 2 2007, pp. 3270-3275.
12. C. Goldfeder, M. Ciocarlie, H. Dang, and P. K. Allen, "The columbia grasp database," in Robotics and Automation, 2009. ICRA '09. IEEE International Conference on, May 2009, pp. 1710-1716.
13. C. Goldfeder, M. Ciocarlie, J. Peretzman, H. Dang, and P. K. Allen, "Data-driven grasping with partial sensor data," in Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, Oct. 2009, pp. 1278-1283.
14. A. Miller, S. Knoop, H. I. Christensen, and P. K. Allen, "Automatic grasp planning using shape primitives," in Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on, vol. 2, Sept. 2003, pp. 1824-1829 vol.2.
15. C. Goldfeder, C. Lackner, R. Pelossof, and P. K. Allen, "Grasp planning via decomposition trees," in Robotics and Automation, 2007 IEEE International Conference on, April 2007, pp. 4679-4684.
16. K. Huebner, S. Ruthotto, and D. Kragic, "Minimum volume bounding box decomposition for shape approximation in robot grasping," in Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on, May 2008, pp. 1628-1633.
17. H. Blum, Models for the Perception of Speech and Visual Form. Cambridge, Massachusetts: MIT Press, 1967, ch. A transformation for extracting new descriptors of shape, pp. 362-380.
18. D. Attali, J.-D. Boissonnat, and H. Edelsbrunner, Mathematical Foundations of Scientific Visualization, Computer Graphics, and Massive Data Exploration, ser. Mathematics and Visualization. Springer Berlin Heidelberg, 2009, ch. Stability and Computation of Medial Axes: A State-of-the-Art Report, pp. 109-125.
19. A. Thakur, A. G. Banerjee, and S. K. Gupta, "A survey of cad model simplification techniques for physics-based simulation applications," Computer-Aided Design, vol. 41, no. 2, pp. 65-80, February 2009.
20. M. Held, "Vroni: An engineering approach to the reliable and efficient computation of voronoi diagrams of points and line segments," Comput. Geom. Theory Appl., vol. 18, pp. 95-123, 2001.
21. J. Bruck, J. Gao, and A. Jiang, "Map: Medial axis based geometric routing in sensor networks," Wireless Networks, vol. 13, no. 6, pp. 835-853, December 2007.
22. M. Hisada, A. G. Belyaev, and T. L. Kunii, "A skeleton-based approach for detection of perceptually salient features on polygonal surfaces," Computer Graphics Forum, vol. 21, pp. 689-700, 2002.
23. T. Dey and S. Goswami, "Tight cocone: a water-tight surface reconstructor," in Proceedings of the eighth ACM symposium on Solid modeling and applications. ACM, 2003, pp. 127-134.
24. A. Kasper, R. Becher, P. Steinhaus, and R. Dillmann, "Developing and analyzing intuitive modes for interactive object modeling," in International Conference on Multimodal Interfaces, 2007.
25. R. Becher, P. Steinhaus, R. Zöllner, and R. Dillmann, "Design and implementation of an interactive object modelling system," in International Symposium on Robotics, 2006.
26. T. Asfour, K. Regenstein, P. Azad, J. Schröder, A. Bierbaum, N. Vahrenkamp, and R. Dillmann, "Armar-iii: An integrated humanoid platform for sensory-motor control," in Proceedings of the 7th IEEE-RAS International Conference on Humanoid Robots, 2006.
27. C. Ferrari and J. Canny, "Planning optimal grasps," in Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on, May 1992, pp. 2290-2295 vol.3.