A 3D-grasp synthesis algorithm to grasp unknown objects based on graspable boundary and convex segments

Title
A 3D-grasp synthesis algorithm to grasp unknown objects based on graspable boundary and convex segments
Authors
Ala, RajeshKanna김동환신성열김창환박성기
Keywords
Vision-based grasp synthesis; Boundary and convex segments; Manipulable cue recognition; Geometric analysis; Distinguished grasps
Issue Date
2015-02
Publisher
Information sciences
Citation
VOL 295, 91-106
Abstract
This paper presents a three dimensional (3D) grasp synthesis algorithm to achieve distinguished grasps supporting both stability and human-like grasping. The algorithm, which is based on the concepts of a graspable boundary and convex segments, was developed to enable a two-fingered gripper to grasp any unknown object, regardless of its shape, texture, or concavity, given a single 3D image data from depth sensors. The proposed algorithm provides ways to grasp any object using boundary, envelope, and functional grasps. The algorithm is based on identifying graspable segments, analyzing them geometrically, and incorporating the memory of grasping experience. Unlike most grasp synthesis research that focuses on complete 3D contours, our algorithm concentrates only on the graspable boundary and convex segments and thereby achieves stable grasps with less computational complexity. The experimental results show that the proposed algorithm provides distinguished and stable grasps for various objects in various environments, and is suitable for robots to grasp the objects successfully.
URI
http://pubs.kist.re.kr/handle/201004/49929
ISSN
00200255
Appears in Collections:
KIST Publication > Article
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