Grasping objects with holes: A topological approach

  title={Grasping objects with holes: A topological approach},
  author={Florian T. Pokorny and Johannes A. Stork and Danica Kragic},
  journal={2013 IEEE International Conference on Robotics and Automation},
This work proposes a topologically inspired approach for generating robot grasps on objects with `holes'. Starting from a noisy point-cloud, we generate a simplicial representation of an object of interest and use a recently developed method for approximating shortest homology generators to identify graspable loops. To control the movement of the robot hand, a topologically motivated coordinate system is used in order to wrap the hand around such loops. Finally, another concept from topology… CONTINUE READING
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