Grasp planning for parallel grippers with flexibility on its grasping surface

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Volumn , Issue , 2011, Pages 1540-1546

  Harada, Kensuke ^a   Tsuji, Tokuo ^b   Nagata, Kazuyuki ^a   Yamanobe, Natsuki ^a   Maruyama, Kenichi ^a   Nakamura, Akira ^a   Kawai, Yoshihiro ^a  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

^b KYUSHU UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

FLEXIBLE SHEETS; GRASP PLANNING; GRASPED OBJECT; NUMERICAL EXAMPLE; POLYGON-MODELS; ROBOT MANIPULATOR; TRIANGULAR MESHES;

BIOMIMETICS; ROBOT APPLICATIONS; ROBOTICS;

GRIPPERS;

EID: 84860758965     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBIO.2011.6181508     Document Type: Conference Paper

References (27)

1. K.B. Shimoga, "Robot Grasp Synthesis: A Survey", Int. J. of Robotics Research, vol.5, no.3, pp.230-266, 1996.
2. C. Borst, M. Fischer, G. Hirzinger, "A fast and robust grasp planner for arbitrary 3D objects", Proc. of IEEE Int. Conf. on Robotics and Automation, pp.1890-1896, 1999.
3. C. Borst, M. Fischer, G. Hirzinger, "Grasp Planning: How to Choose a Suitable Task Wrench Space", Proc. of IEEE Int. Conf. on Robotics and Automation, pp.319-325, 2004.
4. A.T. Miller, S. Knoop, H.I. Christensen, and P.K. Allen, "Automatic Grasp Planning using Shape Primitives", Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 14-19, 2003.
5. A.T. Miller and Peter K. Allen, "Graspit! A versatile simulator for robotic grasping", IEEE Robotics and Automation Magazine, 11(4), pp. 110-122, 2004.
6. M. Ciocarlie, C. Lackner, and Peter K. Allen, "Solf Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks", Proc. of World Haptics, 2007.
7. K. Huebner, S. Ruthotto and D. Kragic, "Minimum Volume Bounding Box Decomposition for Shape Approximation in Robot Grasping", Proc. of IEEE Int. Conf. on Robotics and Automation, 2008.
8. S. Ekvall and D. Kragic, "Learning and Evaluation of the Approach Vector for Automatic Grasp Generation and Planning", Proc. of IEEE Int. Conf on Robotics and Automation, pp. 4715-4720, 2007.
9. D.C. Dupis, S. Leonard, M.A. Baumann, E.A. Croft, and J.J. Little, "Two-Fingered Grasp Planning for Randomized Bin-Picking", Proc. of the Robotics: Science and Systems 2008 Manipulation Workshop - Intelligence in Human Environments, 2008.
10. K. Nagata, T. Miyasaka, D.N. Nenchev, N. Yamanobe, K. Maruyama, S. Kawabata, and Y. Kawai, "Two-Fingered Grasp Planning for Randomized Bin-Picking", Proc. of 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.2109-2116, 2010.
11. O. Ghita and P. F. Whelan, "A Bin Picking System Based on Depth from Defocus", Machine Vision and Applications J., vol. 13, no. 4, pp. 234-244, 2003.
12. J. Kirkegaard and T. B. Moeslund, "Bin-Picking Based on Harmonic Shape Contexts and Graph-Based Matching", Proc. of Int. Conf. on Pattern Recognition, vol. 2, pp. 581-584, 2006.
13. K. Ikeuchi, "Generating an Interpretation Tree from a CAD Model for 3-D Object Recognition in Bin-Picking Tasks", Int. J. Comput. Vision, vol. 1, no. 2, pp. 145-165, 1987.
14. D. Berenson and S. Srinivasa, "Grasp Synthesis in Cluttered Environments for Dexterous Hands" Proc. of Robotics Science and Systems (RSS) Workshop on Robot Manipulation: Intelligence in Human Environments, 2008.
15. K. Harada, K. Kaneko, and F. Kanehiro, "Fast Grasp Planning for Hand/Arm Systems Based on Convex Model", Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1162-1168, 2008.
16. T. Tsuji, K. Harada, K. Kaneko, F. Kanehiro, and K. Maruyama, "Grasp Planning for a Multifingered Hand with a Humanoid Robot", J. of Robotics and Mechatronics, Vol.22 No.2, pp. 230-238, 2010.
17. T. Tsuji, K. Harada, and K. Kaneko, "Easy and Fast Evaluation of Grasp Stability by using Ellipsoidal Approximation of Friction Cone", Proc. of 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1830-1837, 2009.
18. C.-H. D. Tsai, I. Kao, N. Sakamoto, M. Higashimori, M. Kaneko, "Applying Viscoelastic Contact Modeling to Grasping Task: An Experimental Case Study", Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1790-1795, 2008.
19. K. Tahara, S. Arimoto, M. Yoshida, "Dynamic Object Manipulation Using a Virtual Frame by a Triple Soft-fingered Robotic Hand", Proc. IEEE Int. Conf. on Robotics and Automation, pp. 4322-4327, 2010.
20. T.Inoue and S. Hirai, "Parallel-distributed model in three-dimensional soft-fingered grasping and manipulation", Proc. IEEE Int. Conf. on Robotics and Automation, 2009.
21. https://openrtp.jp/excade/
22. K. Maruyama, Y. Kawai, F. Tomita, "Model-based 3D Object Localization Using Occluding Contours", Proc. of The Ninth Asian Conference on Computer Vision (9th ACCV), 2009.
23. K.L. Johnson, "Contact Mechanics", Cambridge University Press, 1987.
24. M. Kaneko, M. Kessler, K. Harada, T. Tsuji, "Necessary and sufficient number of fingers for capturing pyramidal-like objects", Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 134-139, 1998.
25. E. Klingbeil, A. Saxena, and A. Y. Ng, "Learning to Open New Doors", In Robotics Science and Systems (RSS) Workshop on Robot Manipulation, 2008.
26. PCL-Point Cloud Library, http://pointclouds.org
27. N. Bergstrom, J. Bohg, and D. Kragic, "Integration of Visual Cues for Robotic Grasping", Proc. 7th Int. Conf. on Computer Vision Systems, 2009.