Vision-Based 3-D Grasping of 3-D Objects With a Simple 2-D Gripper

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

	Vision-Based 3-D Grasping of 3-D Objects With a Simple 2-D Gripper
	Liu, Chuankai 1; Qiao, Hong2,3 ; Su, Jianhua2 ; Zhang, Peng 4
刊名	IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
	2014-05-01
卷号	44 期号:5 页码:605-620
关键词	Attractive region form closure four-pin gripper grasping stability vision guiding
英文摘要	Object grasping or localization is an essential stage in automatic manufacturing processes. In general, stable grasping of 3-D objects is achieved by a multifinger hand. Different from the existing approaches, in this paper, we propose a novel vision-based method for grasping 3-D objects with a simple 2-D gripper. We describe the grasping strategy, the range of 3-D objects which can be grasped, and the region of grasping orientations which can guarantee successful actions. The proposed method facilitates the freedom of grasping orientation, which endows the strategy with a larger application range. Furthermore, we also explain the potential applications of the proposed method in grasping 3-D objects with other 2-D grippers. Although the proposed method uses a 2-D gripper and 2-D vision information, it can be regarded as a 3-D grasping approach due to the following facts. 1) The objects to be grasped are 3-D. The grasping process and the grasping orientations are analyzed and given in a 3-D space. 2) The contact points between the object and the gripper are not always in a 2-D plane. In the proposed method, the concept attractive region in configuration space, which was proposed in the previous work, is introduced to analyze the whole grasping process. Compared with other traditional methods, the proposed method directly gives the range of objects which can be grasped as well as the region of grasping orientations. By establishing the relationship between our method and traditional ones, it is proved that the bottom of the attractive region corresponds to a stable grasp.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Computer Science, Cybernetics
研究领域[WOS]	Automation & Control Systems ; Computer Science
关键词[WOS]	FORCE-CLOSURE GRASPS ; MANIPULATION ; STABILITY ; ALGORITHM ; HAND ; GUIDANCE
收录类别	SCI
语种	英语
WOS记录号	WOS:000335226900008
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/3033]
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
作者单位	1.Beijing Aerosp Control Ctr, Beijing 100094, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 3.Univ Manchester, Sch Informat, Manchester M13 9PL, Lancs, England 4.Natl Disaster Reduct Ctr China, Ctr Data, Beijing 100124, Peoples R China
推荐引用方式 GB/T 7714	Liu, Chuankai,Qiao, Hong,Su, Jianhua,et al. Vision-Based 3-D Grasping of 3-D Objects With a Simple 2-D Gripper[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2014,44(5):605-620.
APA	Liu, Chuankai,Qiao, Hong,Su, Jianhua,&Zhang, Peng.(2014).Vision-Based 3-D Grasping of 3-D Objects With a Simple 2-D Gripper.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,44(5),605-620.
MLA	Liu, Chuankai,et al."Vision-Based 3-D Grasping of 3-D Objects With a Simple 2-D Gripper".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 44.5(2014):605-620.