File Download
There are no files associated with this item.
Links for fulltext
(May Require Subscription)
- Publisher Website: 10.1109/ICRA.2016.7487345
- Scopus: eid_2-s2.0-84977597726
- WOS: WOS:000389516201108
- Find via
Supplementary
- Citations:
- Appears in Collections:
Conference Paper: Rope caging and grasping
Title | Rope caging and grasping |
---|---|
Authors | |
Issue Date | 2016 |
Citation | 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 16-21 May 2016. In Conference Proceedings, 2016 p. 1980-1986 How to Cite? |
Abstract | We present a novel method for caging grasps in this paper by stretching ropes on the surface of a 3D object. Both topology and shape of a model to be grasped has been considered in our approach. Our algorithm can guarantee generating local minimal rings on every topological branches of a given model with the help of a Reeb graph. Cages and grasps can then be computed from these rings, and physical experimental tests have been conducted to verify the robustness of our approach. |
Persistent Identifier | http://hdl.handle.net/10722/308913 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
ISI Accession Number ID |
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kwok, Tsz Ho | - |
dc.contributor.author | Wan, Weiwei | - |
dc.contributor.author | Pan, Jia | - |
dc.contributor.author | Wang, Charlie C.L. | - |
dc.contributor.author | Yuan, Jianjun | - |
dc.contributor.author | Harada, Kensuke | - |
dc.contributor.author | Chen, Yong | - |
dc.date.accessioned | 2021-12-08T07:50:23Z | - |
dc.date.available | 2021-12-08T07:50:23Z | - |
dc.date.issued | 2016 | - |
dc.identifier.citation | 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 16-21 May 2016. In Conference Proceedings, 2016 p. 1980-1986 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/308913 | - |
dc.description.abstract | We present a novel method for caging grasps in this paper by stretching ropes on the surface of a 3D object. Both topology and shape of a model to be grasped has been considered in our approach. Our algorithm can guarantee generating local minimal rings on every topological branches of a given model with the help of a Reeb graph. Cages and grasps can then be computed from these rings, and physical experimental tests have been conducted to verify the robustness of our approach. | - |
dc.language | eng | - |
dc.relation.ispartof | 2016 IEEE International Conference on Robotics and Automation (ICRA) | - |
dc.title | Rope caging and grasping | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ICRA.2016.7487345 | - |
dc.identifier.scopus | eid_2-s2.0-84977597726 | - |
dc.identifier.spage | 1980 | - |
dc.identifier.epage | 1986 | - |
dc.identifier.isi | WOS:000389516201108 | - |