Grasping objects with holes: A topological approach

@article{Pokorny2013GraspingOW,
  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},
  year={2013},
  pages={1100-1107}
}
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
Highly Cited
This paper has 29 citations. REVIEW CITATIONS
23 Citations
35 References
Similar Papers

Citations

Publications citing this paper.
Showing 1-10 of 23 extracted citations

References

Publications referenced by this paper.
Showing 1-10 of 35 references

ShortLoop Software for Computing Loops in a Shortest Homology Basis

  • O. Busaryev, T. K. Dey, J. Sun, Y. Wang
  • Software
  • 2010
Highly Influential
7 Excerpts

Algebraic topology

  • A. Hatcher
  • Cambridge University Press, Cambridge
  • 2002
Highly Influential
4 Excerpts

Planar

  • J. Seo, S. Kim, V. Kumar
  • Bimanual, Whole-Arm Grasping. In IEEE ICRA, pages…
  • 2012
1 Excerpt

libORS Open Robotics Simulator

  • M. Toussaint
  • Software
  • 2012
1 Excerpt

Similar Papers

Loading similar papers…