Abstract
We present a novel method for caging grasps in this paper by stretching ropes on the surface of a 3D object. Both topology and shape of a model to be grasped has been
considered in our approach. Our algorithm can guarantee generating local minimal rings on every topological branches of a given model with the help of a Reeb graph. Cages and
grasps can then be computed from these rings, and physical experimental tests have been conducted to verify the robustness of our approach.
considered in our approach. Our algorithm can guarantee generating local minimal rings on every topological branches of a given model with the help of a Reeb graph. Cages and
grasps can then be computed from these rings, and physical experimental tests have been conducted to verify the robustness of our approach.
Original language | English |
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Title of host publication | 2016 IEEE International Conference on Robotics and Automation |
Place of Publication | Piscataway |
Publisher | IEEE Society |
Pages | 1980-1986 |
Number of pages | 7 |
ISBN (Electronic) | 978-1-4673-8026-3 |
ISBN (Print) | 978-1-4673-8025-6 |
DOIs | |
Publication status | Published - 2016 |
Event | IEEE International Conference on Robotics and Automation (ICRA 2016) - Stockholm, Sweden Duration: 16 May 2016 → 21 May 2016 |
Conference
Conference | IEEE International Conference on Robotics and Automation (ICRA 2016) |
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Country/Territory | Sweden |
City | Stockholm |
Period | 16/05/16 → 21/05/16 |
Bibliographical note
Author accepted manuscriptKeywords
- graph theory
- grippers
- object recognition