Using Geometry to Detect Grasping Points on 3D Unknown Point Cloud

Please use this identifier to cite or link to this item:
Información del item - Informació de l'item - Item information
Title: Using Geometry to Detect Grasping Points on 3D Unknown Point Cloud
Authors: Zapata-Impata, Brayan S. | Mateo Agulló, Carlos | Gil, Pablo | Pomares, Jorge
Research Group/s: Automática, Robótica y Visión Artificial | Human Robotics (HURO)
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: Grasping | 3D Point Clouds | Surface Detection | Handle Grasping | Unknown Object Manipulation
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: 26-Jul-2017
Publisher: SciTePress
Citation: Zapata-Impata, Brayan S., et al. (2017). “Using Geometry to Detect Grasping Points on 3D Unknown Point Cloud”. In: Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017). Vol. 2, 154-161. doi:10.5220/0006470701540161
Abstract: In this paper, we focus on the task of computing a pair of points for grasping unknown objects, given a single point cloud scene with a partial view of them. The main goal is to estimate the best pair of 3D-located points so that a gripper can perform a stable grasp over the objects in the scene with no prior knowledge of their shape. We propose a geometrical approach to find those contact points by placing them near a perpendicular cutting plane to the object’s main axis and through its centroid. During the experimentation we have found that this solution is fast enough and gives sufficiently stable grasps for being used on a real service robot.
Sponsor: This work was funded by the Spanish Government Ministry of Economy, Industry and Competitiveness through the project DPI2015-68087-R and the predoctoral grant BES-2016-078290.
ISBN: 978-989-758-264-6
DOI: 10.5220/0006470701540161
Language: spa
Type: info:eu-repo/semantics/conferenceObject
Rights: © 2017 by SCITEPRESS – Science and Technology Publications, Lda.
Peer Review: si
Publisher version:
Appears in Collections:INV - HURO - Comunicaciones a Congresos, Conferencias, etc.
INV - AUROVA - Comunicaciones a Congresos Internacionales

Files in This Item:
Files in This Item:
File Description SizeFormat 
ThumbnailICINCO_2017_182_CR.pdfVersión revisada (acceso abierto)2,09 MBAdobe PDFOpen Preview
ThumbnailICINCO_2017_182_final.pdfVersión final (acceso restringido)2,13 MBAdobe PDFOpen    Request a copy

Items in RUA are protected by copyright, with all rights reserved, unless otherwise indicated.