Robot Grasp Synthesis Under Object Pose Uncertainty

• Autorzy: Szynkiewicz W.

Identyfikatory

DOI

10.14313/JAMRIS_4-2014/7

• Języki publikacji: EN

Abstrakty

EN

This paper addresses the problem of grasp synthesis for grasping objects considering both object pose uncertainty and object dynamics. These two factors greatly affect success or failure in a real-world robotic grasping and should be considered simultaneously. The proposed approach is based on simulation of grasping process assuming that the 3D model of the object is known. Object geometry is modelled using superquadrics. To evaluate grasp quality three different measures are utilised. The proposed grasp synthesis approach will be implemented and tested on a real robot with multi-fingered hand.

Słowa kluczowe

EN

grasp synthesis; pose uncertainty; grasp quality

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2015
• Tom: Vol. 9, No. 1
• Strony: 53--61
• Opis fizyczny: Bibliogr. 28 poz., rys.

Twórcy

autor

Szynkiewicz W.

• Institute of Control and Computation Engineering, Warsaw University of Technology, ul. Nowowiejska 15/19, 00–665 Warsaw, Poland

Bibliografia

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