Eye in hand: Towards GPU accelerated online grasp planning based on pointclouds from in-hand sensor

Publikationstyp
Konferenz
Autor(en)
Hermann, Andreas and Mauch, Felix and Klemm, Sebastian and Roennau, Arne and Dillmann, Ruediger
Jahr
2016
Ausgabe
16
Monat
Nov
Adresse
Cancun, Mexico
Buchtitel
Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on
Organisation
IEEE
Abstract
This work proposes the usage of in-hand depth cameras in combination with GPU-based collision detection algorithms to realize robotics grasp planning for unknown objects on the fly. Based on pointcloud data captured during an exploratory hand motion we evaluate and optimize grasps with a hybrid Particle Swarm Optimization process. The approach maximizes the contact surface while examining various grasp poses and allows a precise and model-free manipulation of arbitrary objects. Targeted end-effectors are anthropomatic multi-fingered hands with complex kinematics and geometries.
DOI
10.1109/HUMANOIDS.2016.7803394
Forschungsfelder
Service-Robotik und mobile Manipulation
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