Fast C-shape grasping for unknown objects

Qujiang Lei; Jonathan Meijer; Martijn Wisse

doi:10.1109/AIM.2017.8014068

Fast C-shape grasping for unknown objects

Qujiang Lei, Jonathan Meijer, Martijn Wisse

Robot Dynamics

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

7 Citations (Scopus)

96 Downloads (Pure)

Abstract

This paper identifies high-performing Open Motion Planning Library (OMPL) planners for grasp execution and simultaneously presents useful benchmark data. Four grasp executions were defined using a UR5 manipulator. The performance was measured by means of solved runs, computing time and path length. Based on the results, planners are recommended and the reasons are discussed.

Original language	English
Title of host publication	Proceedings 2017 IEEE International Conference on Advanced Intelligent Mechatronics
Subtitle of host publication	AIM 2017
Editors	Martin Buss, Oliver Sawodny
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	509-516
ISBN (Electronic)	978-1-5090-5998-0
ISBN (Print)	978-1-5090-6000-9
DOIs	https://doi.org/10.1109/AIM.2017.8014068
Publication status	Published - 2017
Event	AIM 2017: IEEE International Conference on Advanced Intelligent Mechatronics - Munich, Germany Duration: 3 Jul 2017 → 7 Jul 2017

Conference

Conference	AIM 2017: IEEE International Conference on Advanced Intelligent Mechatronics
Country/Territory	Germany
City	Munich
Period	3/07/17 → 7/07/17

Bibliographical note

Accepted Author Manuscript

Keywords

Conferences
Mechatronics

Access to Document

10.1109/AIM.2017.8014068

Fast C-shape grasping for unknown objectsAccepted author manuscript, 5.37 MB

Cite this

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title = "Fast C-shape grasping for unknown objects",

abstract = "This paper identifies high-performing Open Motion Planning Library (OMPL) planners for grasp execution and simultaneously presents useful benchmark data. Four grasp executions were defined using a UR5 manipulator. The performance was measured by means of solved runs, computing time and path length. Based on the results, planners are recommended and the reasons are discussed.",

keywords = "Conferences, Mechatronics",

author = "Qujiang Lei and Jonathan Meijer and Martijn Wisse",

note = "Accepted Author Manuscript; AIM 2017: IEEE International Conference on Advanced Intelligent Mechatronics ; Conference date: 03-07-2017 Through 07-07-2017",

year = "2017",

doi = "10.1109/AIM.2017.8014068",

language = "English",

isbn = "978-1-5090-6000-9",

pages = "509--516",

editor = "Martin Buss and Oliver Sawodny",

booktitle = "Proceedings 2017 IEEE International Conference on Advanced Intelligent Mechatronics",

publisher = "IEEE",

address = "United States",

}

Lei, Q, Meijer, J & Wisse, M 2017, Fast C-shape grasping for unknown objects. in M Buss & O Sawodny (eds), Proceedings 2017 IEEE International Conference on Advanced Intelligent Mechatronics : AIM 2017. IEEE, Piscataway, NJ, USA, pp. 509-516, AIM 2017: IEEE International Conference on Advanced Intelligent Mechatronics, Munich, Germany, 3/07/17. https://doi.org/10.1109/AIM.2017.8014068

Fast C-shape grasping for unknown objects. / Lei, Qujiang; Meijer, Jonathan; Wisse, Martijn.
Proceedings 2017 IEEE International Conference on Advanced Intelligent Mechatronics : AIM 2017. ed. / Martin Buss; Oliver Sawodny. Piscataway, NJ, USA: IEEE, 2017. p. 509-516.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AB - This paper identifies high-performing Open Motion Planning Library (OMPL) planners for grasp execution and simultaneously presents useful benchmark data. Four grasp executions were defined using a UR5 manipulator. The performance was measured by means of solved runs, computing time and path length. Based on the results, planners are recommended and the reasons are discussed.

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BT - Proceedings 2017 IEEE International Conference on Advanced Intelligent Mechatronics

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Fast C-shape grasping for unknown objects

Abstract

Conference

Bibliographical note

Keywords

Access to Document

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