Minimum volume bounding box decomposition for shape approximation in robot grasping

Thinking about intelligent robots involves consideration of how such systems can be enabled to perceive, interpret and act in arbitrary and dynamic environments. While sensor perception and model interpretation focus on the robot's internal representation of the world rather passively, robot gr...

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Bibliographic Details
Published in2008 IEEE International Conference on Robotics and Automation pp. 1628 - 1633
Main Authors Huebner, K., Ruthotto, S., Kragic, D.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.01.2008
SeriesIEEE International Conference On Robotics And Automation
Subjects
Clouds
Grasping
Information technology
Informationsteknik
Intelligent robots
Intelligent sensors
Kinematics
Robot sensing systems
Robotics and automation
Service robots
Shape
TECHNOLOGY
TEKNIKVETENSKAP
USA Councils
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Summary:Thinking about intelligent robots involves consideration of how such systems can be enabled to perceive, interpret and act in arbitrary and dynamic environments. While sensor perception and model interpretation focus on the robot's internal representation of the world rather passively, robot grasping capabilities are needed to actively execute tasks, modify scenarios and thereby reach versatile goals. These capabilities should also include the generation of stable grasps to safely handle even objects unknown to the robot. We believe that the key to this ability is not to select a good grasp depending on the identification of an object (e.g. as a cup), but on its shape (e.g. as a composition of shape primitives). In this paper, we envelop given 3D data points into primitive box shapes by a fit-and-split algorithm that is based on an efficient Minimum Volume Bounding Box implementation. Though box shapes are not able to approximate arbitrary data in a precise manner, they give efficient clues for planning grasps on arbitrary objects. We present the algorithm and experiments using the 3D grasping simulator Grasplt!.
ISBN:1424416469
9781424416462
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2008.4543434