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Integrated Grasp and Motion Planning using Independent Contact Regions

Fontanals, Joan and Dang-Vu, Bao-Anh and Porges, Oliver and Rosell, Jan and Roa, Maximo A. (2014) Integrated Grasp and Motion Planning using Independent Contact Regions. In: IEEE-RAS International Conference on Humanoid Robots, pp. 887-893. IEEE-RAS Int. Conf. on Humanoid Robots, 18-20 Nov. 2014, Madrid, Spain.

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Abstract

Traditionally, grasp and arm motion planning are considered as separate tasks. This paper presents an integrated approach that only requires the initial configuration of the robotic arm and the pose of the target object to simultaneously plan a good hand pose and arm trajectory to grasp the object. The planner exploits the concept of independent contact regions to look for the best possible grasp. The goal poses for the end effector are obtained using two different methods: one that biases a sampling approach towards favorable regions using principal component analysis, and another one that considers the capabilities of the robotic arm to decide the most promising hand poses. The proposed method is evaluated using different scenarios for the humanoid robot SpaceJustin.

Item URL in elib:https://elib.dlr.de/93721/
Document Type:Conference or Workshop Item (Poster)
Title:Integrated Grasp and Motion Planning using Independent Contact Regions
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Fontanals, JoanUNSPECIFIEDUNSPECIFIED
Dang-Vu, Bao-AnhBao-Anh.Dang-Vu (at) dlr.deUNSPECIFIED
Porges, Oliveroliver.porges (at) dlr.deUNSPECIFIED
Rosell, JanUNSPECIFIEDUNSPECIFIED
Roa, Maximo A.maximo.roa (at) dlr.deUNSPECIFIED
Date:November 2014
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 887-893
Series Name:Proc. IEEE-RAS Int. Conf. on Humanoid Robots 2014
Status:Published
Keywords:contact regions, grasp planning, motion planning
Event Title:IEEE-RAS Int. Conf. on Humanoid Robots
Event Location:Madrid, Spain
Event Type:international Conference
Event Dates:18-20 Nov. 2014
Organizer:IEEE-RAS
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:08 Jan 2015 15:48
Last Modified:12 Dec 2017 22:24

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