Robotic grasping based on partial shape information

This paper presents a work on fast robotic grasping by a mobile robot based on partial shape information of an object. The information is acquired by a laser range finder installed on the robot at an inclined angle. Feature data are extracted by scanning part of the object to calculate the grasping point. The robot grasps the object without needing to acquire and process all of the object information. An experiment is conducted, and the result illustrates the validity of the proposed method.

[1]  Mario Richtsfeld,et al.  Grasping of Unknown Objects from a Table Top , 2008 .

[2]  Danica Kragic,et al.  Learning grasping points with shape context , 2010, Robotics Auton. Syst..

[3]  Claire Dune,et al.  Active rough shape estimation of unknown objects , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Manuel Lopes,et al.  Learning grasping affordances from local visual descriptors , 2009, 2009 IEEE 8th International Conference on Development and Learning.

[5]  Danica Kragic,et al.  Selection of robot pre-grasps using box-based shape approximation , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Jing Xiao,et al.  Efficient and effective grasping of novel objects through learning and adapting a knowledge base , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[7]  Peter K. Allen,et al.  An SVM learning approach to robotic grasping , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[8]  Gerd Hirzinger,et al.  Fast planning of precision grasps for 3D objects , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[9]  Van-Duc Nguyen,et al.  Constructing Stable Grasps , 1989, Int. J. Robotics Res..

[10]  Anis Sahbani,et al.  Learning the natural grasping component of an unknown object , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  Bert Arnrich,et al.  Gabor filters for object localization and robot grasping , 2000, Proceedings 15th International Conference on Pattern Recognition. ICPR-2000.

[12]  Gary M. Bone,et al.  Automated modeling and robotic grasping of unknown three-dimensional objects , 2008, 2008 IEEE International Conference on Robotics and Automation.

[13]  Ashutosh Saxena,et al.  Robotic Grasping of Novel Objects , 2006, NIPS.

[14]  Markus Vincze,et al.  Efficient 3D Object Detection by Fitting Superquadrics to Range Image Data for Robot's Object Manipulation , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[15]  Karun B. Shimoga,et al.  Robot Grasp Synthesis Algorithms: A Survey , 1996, Int. J. Robotics Res..