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

実世界ロボティクス

研究成果: 会議への寄与タイプ › 学会誌 › 査読

6 被引用数 (Scopus)

抄録

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.

本文言語	英語
ページ	1611-1616
ページ数	6
DOI	https://doi.org/10.1109/ROBIO.2013.6739697
出版ステータス	出版済み - 2013
イベント	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, 中国継続期間: 12月 12 2013 → 12月 14 2013

その他

その他	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
国/地域	中国
City	Shenzhen
Period	12/12/13 → 12/14/13

!!!All Science Journal Classification (ASJC) codes

人工知能
コンピュータサイエンスの応用
バイオテクノロジー

文献へのアクセス

10.1109/ROBIO.2013.6739697

他のファイルとリンク

引用スタイル

@conference{264958f48b3640599e7b3bd23b121465,

title = "Grasp planning using quadric surface approximation for parallel grippers",

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.",

author = "Soichiro Uto and Tokuo Tsuji and Kensuke Harada and Ryo Kurazume and Tsutomu Hasegawa",

year = "2013",

doi = "10.1109/ROBIO.2013.6739697",

language = "English",

pages = "1611--1616",

}

TY - CONF

T1 - Grasp planning using quadric surface approximation for parallel grippers

AU - Uto, Soichiro

AU - Tsuji, Tokuo

AU - Harada, Kensuke

AU - Kurazume, Ryo

AU - Hasegawa, Tsutomu

PY - 2013

Y1 - 2013

N2 - 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.

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.

UR - http://www.scopus.com/inward/record.url?scp=84898796073&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84898796073&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2013.6739697

DO - 10.1109/ROBIO.2013.6739697

M3 - Paper

AN - SCOPUS:84898796073

SP - 1611

EP - 1616

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

抄録

その他

!!!All Science Journal Classification (ASJC) codes

文献へのアクセス

他のファイルとリンク

フィンガープリント

引用スタイル