Fast grasping of unknown objects using cylinder searching on a single point cloud

Qujiang Lei, Martijn Wisse

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

3 Citations (Scopus)
39 Downloads (Pure)

Abstract

Grasping of unknown objects with neither appearance data nor object models given in advance is very important for robots that work in an unfamiliar environment. The goal of this paper is to quickly synthesize an executable grasp for one unknown object by using cylinder searching on a single point cloud. Specifically, a 3D camera is first used to obtain a partial point cloud of the target unknown object. An original method is then employed to do post treatment on the partial point cloud to minimize the uncertainty which may lead to grasp failure. In order to accelerate the grasp searching, surface normal of the target object is then used to constrain the synthetization of the cylinder grasp candidates. Operability analysis is then used to select out all executable grasp candidates followed by force balance optimization to choose the most reliable grasp as the final grasp execution. In order to verify the effectiveness of our algorithm, Simulations on a Universal Robot arm UR5 and an under-actuated Lacquey Fetch gripper are used to examine the performance of this algorithm, and successful results are obtained.
Original languageEnglish
Title of host publicationNinth International Conference on Machine Vision
Subtitle of host publicationICMV 2016
EditorsAntanas Verikas, Petia Radeva, Dmitry P. Nikolaev, Wei Zhang, Jianhong Zhou
Place of PublicationBellingham, WA, USA
PublisherSPIE
Number of pages9
ISBN (Electronic)978-1-510611320
ISBN (Print)978-1-510611313
DOIs
Publication statusPublished - 2017
EventICMV 2016: 9th International Conference on Machine Vision - Nice, France
Duration: 18 Nov 201620 Nov 2016

Publication series

NameProceedings of SPIE
Volume10341
ISSN (Electronic)1605-7422

Conference

ConferenceICMV 2016: 9th International Conference on Machine Vision
CountryFrance
CityNice
Period18/11/1620/11/16

Keywords

  • unknown object grasping
  • cylinder searching
  • single point cloud
  • 3D vision
  • robot

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  • Cite this

    Lei, Q., & Wisse, M. (2017). Fast grasping of unknown objects using cylinder searching on a single point cloud. In A. Verikas, P. Radeva, D. P. Nikolaev, W. Zhang, & J. Zhou (Eds.), Ninth International Conference on Machine Vision : ICMV 2016 [1034108] (Proceedings of SPIE; Vol. 10341). SPIE. https://doi.org/10.1117/12.2268422