Grasp envelopes: Extracting constraints on gripper postures from online reconstructed 3D models

Todor Stoyanov, Robert Krug, Rajkumar Muthusamy, Ville Kyrki

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

4 Citations (Scopus)

Abstract

Grasping systems that build upon meticulously planned hand postures rely on precise knowledge of object geometry, mass and frictional properties - assumptions which are often violated in practice. In this work, we propose an alternative solution to the problem of grasp acquisition in simple autonomous pick and place scenarios, by utilizing the concept of grasp envelopes: sets of constraints on gripper postures. We propose a fast method for extracting grasp envelopes for objects that fit within a known shape category, placed in an unknown environment. Our approach is based on grasp envelope primitives, which encode knowledge of human grasping strategies. We use environment models, reconstructed from noisy sensor observations, to refine the grasp envelope primitives and extract bounded envelopes of collision-free gripper postures. Also, we evaluate the envelope extraction procedure both in a stand alone fashion, as well as an integrated component of an autonomous picking system.

Original languageEnglish
Title of host publication2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
PublisherIEEE
Pages885-892
Number of pages8
Volume2016-November
ISBN (Electronic)9781509037629
DOIs
Publication statusPublished - 28 Nov 2016
MoE publication typeA4 Article in a conference publication
EventIEEE/RSJ International Conference on Intelligent Robots and Systems - Daejeon, Korea, Republic of
Duration: 9 Oct 201614 Oct 2016
http://www.iros2016.org
http://www.iros2016.org/

Publication series

NameProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS
CountryKorea, Republic of
CityDaejeon
Period09/10/201614/10/2016
Internet address

Fingerprint Dive into the research topics of 'Grasp envelopes: Extracting constraints on gripper postures from online reconstructed 3D models'. Together they form a unique fingerprint.

Cite this