1A1-K13 On the Stable Caging of Convex Objects with Least Fingers and Boundary Clouds(New Control Theory and Motion Control)

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概要

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• This paper addresses the problem of shapeless grasping for a home-use logistical system where a shapeless stable caging approach is forwarded to control ceiling robotic hands. We demonstrate that stable caging is essentially an immobilization grasp that employs least number of fingers by introducing CC obstacles and perform stable caging with least finger number decided by inner Largest Empty Circles (inner LECs). Our system works well with object boundary data generated from one laser scanner and demonstrates its robustness in experiments on daily utilities.

• 2011-05-26

著者

• MORI Taketoshi

  The University of Tokyo

• SATO Tomomasa

  The University of Tokyo

• WAN Weiwei

  The University of Tokyo

• FUKUI Rui

  The University of Tokyo

関連論文

• Time-Series Human Motion Analysis with Kernels Derived from Learned Switching Linear Dynamics
• Time-Series Human Motion Analysis with Kernels Derived from Learned Switching Linear Dynamics
• 1A1-K13 On the Stable Caging of Convex Objects with Least Fingers and Boundary Clouds(New Control Theory and Motion Control)

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