TY - GEN
T1 - Grasp planning by alignment of pairwise shape descriptorss
AU - Agovic, Amer
AU - Papanikolopoulos, Nikos
PY - 2009/12/11
Y1 - 2009/12/11
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=76249097479&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=76249097479&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5353938
DO - 10.1109/IROS.2009.5353938
M3 - Conference contribution
AN - SCOPUS:76249097479
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 1797
EP - 1804
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -