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Conference Paper: Rope caging and grasping

TitleRope caging and grasping
Authors
Kwok, Tsz HoWan, WeiweiPan, JiaWang, Charlie C.L.Yuan, JianjunHarada, KensukeChen, Yong
Issue Date2016
Citation
2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 16-21 May 2016. In Conference Proceedings, 2016 p. 1980-1986 How to Cite?
DOI: http://dx.doi.org/10.1109/ICRA.2016.7487345
AbstractWe 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.
Persistent Identifierhttp://hdl.handle.net/10722/308913
ISSN
1050-4729
2023 SCImago Journal Rankings: 1.620
ISI Accession Number ID
WOS:000389516201108

 

DC FieldValueLanguage
dc.contributor.authorKwok, Tsz Ho-
dc.contributor.authorWan, Weiwei-
dc.contributor.authorPan, Jia-
dc.contributor.authorWang, Charlie C.L.-
dc.contributor.authorYuan, Jianjun-
dc.contributor.authorHarada, Kensuke-
dc.contributor.authorChen, Yong-
dc.date.accessioned2021-12-08T07:50:23Z-
dc.date.available2021-12-08T07:50:23Z-
dc.date.issued2016-
dc.identifier.citation2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 16-21 May 2016. In Conference Proceedings, 2016 p. 1980-1986-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/308913-
dc.description.abstractWe 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.-
dc.languageeng-
dc.relation.ispartof2016 IEEE International Conference on Robotics and Automation (ICRA)-
dc.titleRope caging and grasping-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ICRA.2016.7487345-
dc.identifier.scopuseid_2-s2.0-84977597726-
dc.identifier.spage1980-
dc.identifier.epage1986-
dc.identifier.isiWOS:000389516201108-

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