Immobilizing Caging Grasps of Convex Polyhedrons With a Four-Pin Gripper

doi:10.1109/LRA.2021.3094832

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 机器人应用与理论组

	Immobilizing Caging Grasps of Convex Polyhedrons With a Four-Pin Gripper
	Su, Jianhua 1,2; Liu, Chuankai 3; Meng, Yan 1,2
刊名	IEEE ROBOTICS AND AUTOMATION LETTERS
	2021-10-01
卷号	6 期号:4 页码:7683-7690
关键词	Grasping Grippers Pins Three-dimensional displays Industries Shape Neck Caging grasps grasping in-hand manipulation industrial robot
ISSN号	2377-3766
DOI	10.1109/LRA.2021.3094832
通讯作者	Su, Jianhua(jianhua.su@ia.ac.cn)
英文摘要	This letter converts one high-dimensional caging configuration into several lower-dimensional cage sets in the translation space and rotation space, through which analysis of grasping can be carried out more efficiently. A caging set detection method is introduced based on the constraint region. It is found that a caging on a high-dimensional convex constraint region can be converted into a caging set in low-dimensional sub-region. An efficient method to compute the caging of a polyhedral object using a one-parameter four-pin industrial gripper is then presented. Several simulations and real experiments are conducted to show the efficacy of the proposed methods.
资助项目	NSFC[91848109] ; NSFC[61972020] ; NSFC[62003025] ; Beijing Natural Science Foundation[L201019]
WOS关键词	PLANAR OBJECTS
WOS研究方向	Robotics
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000685889400012
资助机构	NSFC ; Beijing Natural Science Foundation
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/45887]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
通讯作者	Su, Jianhua
作者单位	1.Univ Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100190, Peoples R China 3.Beijing Aerosp Control Ctr, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Su, Jianhua,Liu, Chuankai,Meng, Yan. Immobilizing Caging Grasps of Convex Polyhedrons With a Four-Pin Gripper[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2021,6(4):7683-7690.
APA	Su, Jianhua,Liu, Chuankai,&Meng, Yan.(2021).Immobilizing Caging Grasps of Convex Polyhedrons With a Four-Pin Gripper.IEEE ROBOTICS AND AUTOMATION LETTERS,6(4),7683-7690.
MLA	Su, Jianhua,et al."Immobilizing Caging Grasps of Convex Polyhedrons With a Four-Pin Gripper".IEEE ROBOTICS AND AUTOMATION LETTERS 6.4(2021):7683-7690.