Object grasping by combining caging and force closure

Lei, Q.; Wisse, M.

doi:10.1109/ICARCV.2016.7838638

Object grasping by combining caging and force closure

Title

Object grasping by combining caging and force closure

Author

Lei, Q. (TU Delft OLD Biorobotics)
Wisse, M. (TU Delft OLD Biorobotics)

Date

2016

Abstract

The current research trends of object grasping can be summarized as caging grasping and force closure grasping. The motivation of this paper is to combine the advantage of caging grasping and force closure grasping to enable under-actuated grippers like the Lacquey gripper and the parallel grippers like the PR2 gripper to quickly grasp the flat unknown objects. Inspired by the idea that caging grasping generates finger points along the object's boundary and considering the geometry property of the grippers, we propose to allocate a discrete set of finger candidates along the object's boundary. Any two of the finger candidates can form a grasp candidate, which is analyzed by using force closure to choose the best grasp candidate as the final grasp execution. The grasp quality during the manipulation of the object is guaranteed by considering the gravity of the object. Simulations and experiments on an Universal arm UR5 and an under-actuated Lacquey Fetch gripper are used to examine the performance of this algorithm, and successful results are obtained.

Subject

caging
force closure
object grasping
robot

To reference this document use:

http://resolver.tudelft.nl/uuid:2ef83e56-a5c8-4a3c-8ae0-a2b72970cc8d

DOI

https://doi.org/10.1109/ICARCV.2016.7838638

Publisher

IEEE, Piscataway, NJ, USA

ISBN

978-1-5090-3549-6

Source

Proceedings 2016 14th International Conference on Control, Automation, Robotics and Vision