A new strategy combining empirical and analytical approaches for grasping unknown 3D objects

El-Khoury, Sahar; Sahbani, Anis

doi:10.1016/j.robot.2010.01.008

Cited by 44 publications

(26 citation statements)

References 39 publications

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“…Li and Pollard's strategy determine for one object different grasps and fail to choose the one adapted to the task-requirements. El-Khoury et al [69] proposed to imitate humans choice of unknown object graspable components based on primitives such as object subparts shapes and sizes. But does the selected graspable part convey any information about the object corresponding task?…”

Section: Systems Based On the Object Observationmentioning

confidence: 99%

An overview of 3D object grasp synthesis algorithms

Sahbani

El-Khoury

Bidaud

2012

Robotics and Autonomous Systems

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a b s t r a c tThis overview presents computational algorithms for generating 3D object grasps with autonomous multi-fingered robotic hands. Robotic grasping has been an active research subject for decades, and a great deal of effort has been spent on grasp synthesis algorithms. Existing papers focus on reviewing the mechanics of grasping and the finger-object contact interactions Bicchi and Kumar (2000) [12] or robot hand design and their control Al-Gallaf et al. (1993) [70]. Robot grasp synthesis algorithms have been reviewed in Shimoga (1996) [71], but since then an important progress has been made toward applying learning techniques to the grasping problem. This overview focuses on analytical as well as empirical grasp synthesis approaches.

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Section: Systems Based On the Object Observationmentioning

confidence: 99%

An overview of 3D object grasp synthesis algorithms

Sahbani

El-Khoury

Bidaud

2012

Robotics and Autonomous Systems

Self Cite

404

214

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“…Good grasping candidates are preselected by means of curvature extrema and then evaluated further using the concept of force-closure. Another related work [11] proposes a grasping algorithm for unknown 3D objects. There, Gaussian curvature is employed during the segmentation of the object.…”

Section: Related Workmentioning

confidence: 99%

Caging complex objects with geodesic balls

Zarubin

Pokorny

Toussaint

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper proposes a novel approach for the synthesis of grasps of objects whose geometry can be observed only in the presence of noise. We focus in particular on the problem of generating caging grasps with a realistic robot hand simulation and show that our method can generate such grasps even on complex objects. We introduce the idea of using geodesic balls on the object's surface in order to approximate the maximal contact surface between a robotic hand and an object. We define two types of heuristics which extract information from approximate geodesic balls in order to identify areas on an object that can likely be used to generate a caging grasp. Our heuristics are based on two scoring functions. The first uses winding angles measuring how much a geodesic ball on the surface winds around a dominant axis, while the second explores using the total discrete Gaussian curvature of a geodesic ball to rank potential caging postures. We evaluate our approach with respect to variations in hand kinematics, for a selection of complex real-world objects and with respect to its robustness to noise.

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“…The problem has also been adressed for 3D objects, both polyhedra with three [11] and four [12] frictional contacts and objects of any shape with seven [13] frictionless contacts and three [14] [15] and four [16] frictional contacts.…”

Section: Introductionmentioning

confidence: 99%

Grasp analysis and synthesis of 2D articulated objects with n links

Tovar

Suárez

2015

Robotics and Computer-Integrated Manufacturing

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This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with n links considering frictionless contacts. The boundary of each link of the object is represented by a finite set of boundary points allowing links of any shape to be considered. Grasp analysis is carried out to verify whether a set of contact points on the object boundary allows a force-closure grasp, while the goal of grasp synthesis is to determine a set of contact points that allows a force-closure grasp. The paper describes the process of finding the elements of the generalized wrench vector generated by a force applied to any link of the articulated object and a procedure to search for a force-closure grasp based on these generalized wrenches. The approach has been implemented and some examples are included in the paper.

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A new strategy combining empirical and analytical approaches for grasping unknown 3D objects

Cited by 44 publications

References 39 publications

An overview of 3D object grasp synthesis algorithms

An overview of 3D object grasp synthesis algorithms

Caging complex objects with geodesic balls

Grasp analysis and synthesis of 2D articulated objects with n links

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