Grasp planning for parallel grippers with flexibility on its grasping surface

Harada, Kensuke; Tsuji, Tokuo; Nagata, Kazuyuki; Yamanobe, Natsuki; Maruyama, Kenichi; Nakamura, Akira; Kawai, Yoshihiro

doi:10.1109/robio.2011.6181508

Cited by 33 publications

(22 citation statements)

References 19 publications

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“…Diankov [10] proposed the grasp planning method considering the quality of the grasping posture. The authors have also researched the grasp planning for multi-fingered hands [12], [13] by assuming the rectangular-convex model for both grasping region of the hand and the grasped object and have proposed the grasp planning for parallel grippers taking the elasticity of the finger into consideration [15]. Here, the number of research on grasp planning considering the putting posture of the hand is limited.…”

Section: Related Workmentioning

confidence: 99%

“…In this subsection, we explain the offline clustering method of the object surface aiming to establish the contact between the object and the finger [15]. We assume a parallel gripper to grasp the object.…”

Section: ) Finger-object Contactmentioning

confidence: 99%

“…Then we execute Algorithm 1 to obtain the cluster C x on the object surface. In addition to Algorithm 1, we further execute the clustering algorithm to obtain a cluster where the contact plane is parallel to that of C x [15]. By assigning different part on the object surface, we iterate this algorithm and obtain multiple pairs of parallel contact planes on the object surface.…”

Section: ) Finger-object Contactmentioning

confidence: 99%

“…The authors have proposed a grasp planning approach for parallel grippers [15] where the posture of the hand stably grasping the object is computed by taking the elasticity of the finger surface into consideration. This method is effective since we can estimate the contact area between the finger and the object and can plan a grasping posture with large contact area.…”

Section: Introductionmentioning

confidence: 99%

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Pick and place planning for dual-arm manipulators

Harada

Foissotte

Tsuji

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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This paper proposes a method for planning the pick-and-place motion of an object by dual-arm manipulators. Our planner is composed of the offline and the online phases. The offline phase generates a set of regions on the object and the environment surfaces and calculates several parameters needed in the online phase. In the online phase, the planner selects a grasping pose of the robot and a putting posture of the object by searching for the regions calculated in the offline phase. By using the proposed method, we can also plan the trajectory of the robot, and the regrasping strategy of the dual-arm. Here, the putting posture of the object can be planned by considering stability of the object placed on the environment. The effectiveness of the proposed method is confirmed by simulation and experimental results by using the dual-arm robot NX-HIRO.

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Section: Related Workmentioning

confidence: 99%

Section: ) Finger-object Contactmentioning

confidence: 99%

Section: ) Finger-object Contactmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Pick and place planning for dual-arm manipulators

Harada

Foissotte

Tsuji

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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“…(1) (16) (2), (3), (4) 3·2·1 Fig. 5 Clusters of object and environment models includeBoundingBox(C j ): …”

Section: Xmentioning

confidence: 99%

Pick-and-Place Motion Planning for Manipulators with Dual-Arms

Harada

Foissotte²,

Tsuji³

et al. 2012

Trans.JSME(C)

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This paper proposes a method for planning pick-and-place motion by using dual-arm manipulators. In the offline phase of our algorithm, we model the surface of object and environment by using a set of planar regions. The contact between the object and the environment is established by selecting a cluster from both the object and the environment.In the online phase, our planner first generates multiple candidates of object pose stably placed on the environment. We then generate multiple motion strategies including the regrasping motion. The pick-and-place motion is generated by performing the grasp planning selecting one of the object pose and one of the motion strategies. We finally generate collision-free pick-and-place motion by using the PRM (Probabilistic Roadmap Method). The effectiveness of the proposed method is confirmed by simulation and experimental results using the dual-arm robot NX-HIRO.1.

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Unknown Object Detection by Punching: An Impacting-Based Approach to Picking Novel Objects

Maeda

Tsuruga

Honda

et al. 2018

Intelligent Autonomous Systems 15

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In this paper, a method for unknown object detection based on impacting and keypoint tracking is presented. In this method, a robot perturbs object positions by punching the floor on which the objects are placed, to detect each of the objects individually from camera images before and after the punching. The detection method utilizes consistent movements of the keypoints of each object according to its rigid-body motion. After the detection, a grasp of each of the detected objects is planned based on extracting its two parallel edges. The proposed method is successfully applied to picking up of mahjong tiles by an industrial manipulator.

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Grasp planning for parallel grippers with flexibility on its grasping surface

Cited by 33 publications

References 19 publications

Pick and place planning for dual-arm manipulators

Pick and place planning for dual-arm manipulators

Pick-and-Place Motion Planning for Manipulators with Dual-Arms

Unknown Object Detection by Punching: An Impacting-Based Approach to Picking Novel Objects

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