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Conference Paper: Rope caging and grasping
| Title | Rope caging and grasping |
|---|---|
| Authors | |
| Issue Date | 16-May-2016 |
| Publisher | IEEE |
| 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/10722/369716 |
| 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 | 2026-01-30T00:36:06Z | - |
| dc.date.available | 2026-01-30T00:36:06Z | - |
| dc.date.issued | 2016-05-16 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/369716 | - |
| dc.description.abstract | <p>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.</p> | - |
| dc.language | eng | - |
| dc.publisher | IEEE | - |
| dc.relation.ispartof | IEEE International Conference on Robotics and Automation (ICRA 2016) (16/05/2016-21/05/2016, Stockholm) | - |
| dc.title | Rope caging and grasping | - |
| dc.type | Conference_Paper | - |
| dc.identifier.doi | 10.1109/ICRA.2016.7487345 | - |