Optimizing force closure grasps on 3D objects using a modified genetic algorithm

Rakesh, V.; Sharma, Utkarsh; Murugan, S.; Venugopal, S.; Thondiyath, Asokan

doi:10.1007/s00500-016-2377-6

Cited by 10 publications

(3 citation statements)

References 26 publications

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“…1) and Triangle-Triangle intersection algorithms are either case dependent [12] or perform poorly for bigger applications [13], we develop an alternative algorithm. The usage of polygon clipping algorithms [14] enables a stable and accurate intersection detection between two polygons. In the Literature several algorithms have been proposed to solve this problem, but in the following three of the more prominent ones are described.…”

Section: Polygon Clippingmentioning

confidence: 99%

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Computing Gripping Points in 2D Parallel Surfaces Via Polygon Clipping

Vogt¹,

Zimmermann²,

Schilp

2022

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

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To generate suitable grasping positions between tessellated handling objects and specific planar grippers, we propose a 2D analytical approach which uses a polygon clipping algorithm to generate detailed information about the intersection between both objects. With the generated knowledge about the intersection we check whether its shape fits to the set criteria of the operator and represents a valid grasping position. Before the polygon clipping algorithm is applied, a preprocessing step is performed, where appropriate surfaces from the handling object and the gripper are extracted. After rotating all surfaces into a common plane, potential clipping positions are detected and the clipping is performed to get an accurate intersection detection. The validation shows comparable running times to a OBBTree algorithm (0.1 ms per grasping position) while increasing the stability of the results from 30 to 100% for the evaluated test objects.

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Section: Polygon Clippingmentioning

confidence: 99%

“…Sutherland and Hodgman [15] propose an algorithm which is able to clip a convex clipping polygon and a concave subject polygon against each other but not two concave polygons. The Weiler-Atherton algorithm [14] is able to clip two non-self-intersecting…”

Section: Polygon Clippingmentioning

confidence: 99%

Computing Gripping Points in 2D Parallel Surfaces Via Polygon Clipping

Vogt¹,

Zimmermann²,

Schilp

2022

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

View full text Add to dashboard Cite

show abstract

“…For the second step of the grasping problem (i.e., closing of the fingers), previous grasping synthesis methods are mainly based on the generation of force closure (FC) grasps ( [24][25][26]). This means that the robotic hand is able to maintain the manipulated object inside the palm despite any external disturbance and evaluate the contact forces including those due to friction.…”

Section: Introductionmentioning

confidence: 99%

Grasp Planning Pipeline for Robust Manipulation of 3D Deformable Objects with Industrial Robotic Hand + Arm Systems

Zaidi¹,

Ramón

Sabourin

et al. 2020

Applied Sciences

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In the grasping and manipulation of 3D deformable objects by robotic hands, the physical contact constraints between the fingers and the object have to be considered in order to validate the robustness of the task. Nevertheless, previous works rarely establish contact interaction models based on these constraints that enable the precise control of forces and deformations during the grasping process. This paper considers all steps of the grasping process of deformable objects in order to implement a complete grasp planning pipeline by computing the initial contact points (pregrasp strategy), and later, the contact forces and local deformations of the contact regions while the fingers close over the grasped object (grasp strategy). The deformable object behavior is modeled using a nonlinear isotropic mass-spring system, which is able to produce potential deformation. By combining both models (the contact interaction and the object deformation) in a simulation process, a new grasp planning method is proposed in order to guarantee the stability of the 3D grasped deformable object. Experimental grasping experiments of several 3D deformable objects with a Barrett hand (3-fingered) and a 6-DOF industrial robotic arm are executed. Not only will the final stable grasp configuration of the hand + object system be obtained, but an arm + hand approaching strategy (pregrasp) will also be computed.

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Effect of fruit and hand characteristics on thumb–index finger power-grasp stability during manual fruit sorting

Chen

Wang

et al. 2019

Computers and Electronics in Agriculture

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Optimizing force closure grasps on 3D objects using a modified genetic algorithm

Cited by 10 publications

References 26 publications

Computing Gripping Points in 2D Parallel Surfaces Via Polygon Clipping

Computing Gripping Points in 2D Parallel Surfaces Via Polygon Clipping

Grasp Planning Pipeline for Robust Manipulation of 3D Deformable Objects with Industrial Robotic Hand + Arm Systems

Effect of fruit and hand characteristics on thumb–index finger power-grasp stability during manual fruit sorting

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