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Grasping bulky objects with two anthropomorphic hands

Author
Rojas de Silva, F.; Suarez, R.
Type of activity
Presentation of work at congresses
Name of edition
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Date of publication
2016
Presentation's date
2016-10-11
Book of congress proceedings
IROS 2016: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems: October 9-14, 2016: Daejeon Convention Center, Daejeon, Korea
First page
884
Last page
884
DOI
https://doi.org/10.1109/IROS.2016.7759154 Open in new window
Repository
http://hdl.handle.net/2117/103149 Open in new window
Abstract
This paper presents an algorithm to compute precision grasps for bulky objects using two anthropomorphic hands. We use objects modeled as point clouds obtained from a sensor camera or from a CAD model. We then process the point clouds dividing them into two set of slices where we look for sets of triplets of points. Each triplet must accomplish some physical conditions based on the structure of the hands. Then, the triplets of points from each set of slices...
Citation
Rojas de Silva, F., Suarez, R. Grasping bulky objects with two anthropomorphic hands. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "IROS 2016: 2016 IEEE/RSJ International Conference on Inteligent Robots and Systems, September 28-October 9-14, 2016, Daejeon, Korea". Daejeon: 2016, p. 884.
Group of research
SIR - Service and Industrial Robotics

Participants

  • Rojas de Silva Gonzalez, Francisco Abiud  (author and speaker )
  • Suarez Feijoo, Raul  (author and speaker )

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