Grasp planning using quadric surface approximation for parallel grippers

Soichiro Uto; Tokuo Tsuji; Kensuke Harada; Ryo Kurazume; Tsutomu Hasegawa

doi:10.1109/ROBIO.2013.6739697

Grasp planning using quadric surface approximation for parallel grippers

Soichiro Uto, Tokuo Tsuji, Kensuke Harada, Ryo Kurazume, Tsutomu Hasegawa

Real world robotics

Research output: Contribution to conference › Paper › peer-review

6 Citations (Scopus)

Abstract

We propose a planning method for a gripper grasping daily life objects using quadric surface approximation. This method can decompose the objects to the approximate quadric surfaces. The planner can find regions for contacting fingers quickly so that the gripper grasps the object firmly. The planner evaluates the grasp stability for these postures. The previous evaluation method in surface contact considers contact area only. We extend the evaluation method for considering stress distribution. We performed simulation and verified the effectiveness of our grasp planning.

Original language	English
Pages	1611-1616
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2013.6739697
Publication status	Published - 2013
Event	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China Duration: Dec 12 2013 → Dec 14 2013

Other

Other	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Country/Territory	China
City	Shenzhen
Period	12/12/13 → 12/14/13

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Computer Science Applications
Biotechnology

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10.1109/ROBIO.2013.6739697

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AU - Uto, Soichiro

AU - Tsuji, Tokuo

AU - Harada, Kensuke

AU - Kurazume, Ryo

AU - Hasegawa, Tsutomu

PY - 2013

Y1 - 2013

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AB - We propose a planning method for a gripper grasping daily life objects using quadric surface approximation. This method can decompose the objects to the approximate quadric surfaces. The planner can find regions for contacting fingers quickly so that the gripper grasps the object firmly. The planner evaluates the grasp stability for these postures. The previous evaluation method in surface contact considers contact area only. We extend the evaluation method for considering stress distribution. We performed simulation and verified the effectiveness of our grasp planning.

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T2 - 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

Y2 - 12 December 2013 through 14 December 2013

ER -

Grasp planning using quadric surface approximation for parallel grippers

Abstract

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All Science Journal Classification (ASJC) codes

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