Grasp planning by alignment of pairwise shape descriptorss

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

The majority of work related to grasp planning has centered on the understanding of what constitutes a good grasp. However, to reach a good grasp we must first find the relative position of the gripper, its approach vector, and finger configuration. This search problem is the focus of our paper. We propose an on-line method that uses pairwise shape descriptors to quickly find good alignments between the gripper contact surface and the target. Having found a good fit, we then evaluate how alignment quality relates to grasp quality and what can be done to speed up the exploration of the DOF space.

Original languageEnglish (US)
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages1797-1804
Number of pages8
DOIs
StatePublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

Fingerprint Dive into the research topics of 'Grasp planning by alignment of pairwise shape descriptorss'. Together they form a unique fingerprint.

Cite this