Unknown object grasping by using concavity

Qujiang Lei, Martijn Wisse

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

    6 Citations (Scopus)
    67 Downloads (Pure)

    Abstract

    Reducing the grasp candidates for unknown object grasping while maintaining grasp stability is the goal of this paper. In this paper, we propose an efficient and straight forward unknown object grasping method by using concavities of the unknown objects to significantly reduce the grasp candidates. Shortest path concavity is first employed to work out the concavity value for every vertex of the unknown objects followed by concavity extraction to obtain the most salient concave areas. Grasp candidates are then generated on the most salient concave areas and evaluated by using force balance computation. Grasp candidates are ranked according to the result of force balance computation and the manipulability of every grasp candidate. The grasp with the best force balance and manipulability is chosen as the final grasp. In order to verify the effectiveness of our algorithm, some unknown objects commonly used by other papers about unknown object grasping are used to do simulations and favorable performance is obtained.

    Original languageEnglish
    Title of host publicationProceedings 2016 14th International Conference on Control, Automation, Robotics and Vision
    Place of PublicationPiscataway, NJ, USA
    PublisherIEEE
    Number of pages8
    ISBN (Electronic)978-1-5090-3549-6
    DOIs
    Publication statusPublished - 2016
    Event2016 14th International Conference on Control, Automation, Robotics and Vision - Phuket, Thailand
    Duration: 13 Nov 201615 Nov 2016

    Conference

    Conference2016 14th International Conference on Control, Automation, Robotics and Vision
    Abbreviated titleICARCV 2016
    Country/TerritoryThailand
    CityPhuket
    Period13/11/1615/11/16

    Bibliographical note

    Accepted Author Manuscript

    Keywords

    • concavity
    • oriented bounding box
    • robot
    • unknown object grasping

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