A novel algorithm for fast grasping of unknown objects using C-shape configuration

A novel algorithm for fast grasping of unknown objects using C-shape configuration

Lei, Q. (TU Delft Robot Dynamics)
Chen, G. (TU Delft Transport Engineering and Logistics)
Meijer, Jonathan (Student TU Delft)
Wisse, M. (TU Delft Robot Dynamics)

2018

Increasing grasping efficiency is very important for the robots to grasp unknown objects especially subjected to unfamiliar environments. To achieve this, a new algorithm is proposed based on the C-shape configuration. Specifically, the geometric model of the used under-actuated gripper is approximated as a C-shape. To obtain an appropriate graspable position, this C-shape configuration is applied to fit geometric model of an unknown object. The geometric model of unknown object is constructed by using a single-view partial point cloud. To examine the algorithm using simulations, a comparison of the commonly used motion planners is made. The motion planner with the highest number of solved runs, lowest computing time and the shortest path length is chosen to execute grasps found by this grasping algorithm. The simulation results demonstrate that excellent grasping efficiency is achieved by adopting our algorithm. To validate this algorithm, experiment tests are carried out using a UR5 robot arm and an under-actuated gripper. The experimental results show that steady grasping actions are obtained. Hence, this research provides a novel algorithm for fast grasping of unknown objects.

Robotics
Correlation
Graph theory
Jacobians
Computer

http://resolver.tudelft.nl/uuid:906bc8eb-02a4-41db-b3c4-64b89c1c52c8

https://doi.org/10.1063/1.5006570

2158-3226

AIP Advances, 8 (2)

Institutional Repository

journal article

© 2018 Q. Lei, G. Chen, Jonathan Meijer, M. Wisse