NDLI: Caging complex objects with geodesic balls

Content Provider	IEEE Xplore Digital Library
Author	Zarubin, D. Pokorny, F.T. Toussaint, M. Kragic, D.
Copyright Year	2013
Description	Author affiliation: Sch. of Comput. Sci. & Commun., Comput. Vision & Active Perception Lab., KTH - R. Inst. of Technol., Stockholm, Sweden (Pokorny, F.T.; Kragic, D.) \|\| Machine Learning & Robot. Lab., Univ. Stuttgart, Stuttgart, Germany (Zarubin, D.; Toussaint, M.)
Abstract	This paper proposes a novel approach for the synthesis of grasps of objects whose geometry can be observed only in the presence of noise. We focus in particular on the problem of generating caging grasps with a realistic robot hand simulation and show that our method can generate such grasps even on complex objects. We introduce the idea of using geodesic balls on the object's surface in order to approximate the maximal contact surface between a robotic hand and an object. We define two types of heuristics which extract information from approximate geodesic balls in order to identify areas on an object that can likely be used to generate a caging grasp. Our heuristics are based on two scoring functions. The first uses winding angles measuring how much a geodesic ball on the surface winds around a dominant axis, while the second explores using the total discrete Gaussian curvature of a geodesic ball to rank potential caging postures. We evaluate our approach with respect to variations in hand kinematics, for a selection of complex real-world objects and with respect to its robustness to noise.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	2999
Ending Page	3006
File Size	1984535
Page Count	8
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696781
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Windings Approximation methods Noise Grasping Geometry Robot kinematics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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