Pre-Grasp Manipulation Planning to Secure Space for Power Grasping

An object can be gripped firmly through power grasping, in which the gripper fingers and palm are wrapped around the object. However, it is difficult to power-grasp an object if it is placed on a support surface and the grasping point is near the support surface. Because there is no gap between the...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Inhyuk Baek, Kyoosik Shin, Hyunjun Kim, Seunghoon Hwang, Eric Demeester, Min-Sung Kang
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Manipulation planning power grasp reorientation rotation axis Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/1f471bf8bf9640cca81feba11824fbcc
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:1f471bf8bf9640cca81feba11824fbcc
record_format	dspace
spelling	oai:doaj.org-article:1f471bf8bf9640cca81feba11824fbcc2021-12-03T00:01:14ZPre-Grasp Manipulation Planning to Secure Space for Power Grasping2169-353610.1109/ACCESS.2021.3126829https://doaj.org/article/1f471bf8bf9640cca81feba11824fbcc2021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9610071/https://doaj.org/toc/2169-3536An object can be gripped firmly through power grasping, in which the gripper fingers and palm are wrapped around the object. However, it is difficult to power-grasp an object if it is placed on a support surface and the grasping point is near the support surface. Because there is no gap between the object and the support surface, the gripper fingers and the support surface will collide when the gripper attempts to power-grasp the object. To address this, we propose a pre-grasp manipulation planning method that uses two robot arms, whereby space can be secured for power grasping by rotating the object while being supported against the support surface. The objects considered in this study are appropriately shaped for a power grasp, but power grasping cannot be performed directly because the desired power-grasping location is close to the support surface on which the object is placed. First, to power-grasp the object, candidate rotation axes on the object and in contact with the support surface are derived based on a mesh model of the object. Then, for each such axis, the object pose that allows power grasping is obtained. Finally, according to the obtained object pose, the paths for rotating and power-grasping the object are planned. We evaluate the proposed approach through simulations and experiments using two UR5e robot arms with a 2F-85 gripper.Inhyuk BaekKyoosik ShinHyunjun KimSeunghoon HwangEric DemeesterMin-Sung KangIEEEarticleManipulation planningpower graspreorientationrotation axisElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 157715-157726 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Manipulation planning power grasp reorientation rotation axis Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Manipulation planning power grasp reorientation rotation axis Electrical engineering. Electronics. Nuclear engineering TK1-9971 Inhyuk Baek Kyoosik Shin Hyunjun Kim Seunghoon Hwang Eric Demeester Min-Sung Kang Pre-Grasp Manipulation Planning to Secure Space for Power Grasping
description	An object can be gripped firmly through power grasping, in which the gripper fingers and palm are wrapped around the object. However, it is difficult to power-grasp an object if it is placed on a support surface and the grasping point is near the support surface. Because there is no gap between the object and the support surface, the gripper fingers and the support surface will collide when the gripper attempts to power-grasp the object. To address this, we propose a pre-grasp manipulation planning method that uses two robot arms, whereby space can be secured for power grasping by rotating the object while being supported against the support surface. The objects considered in this study are appropriately shaped for a power grasp, but power grasping cannot be performed directly because the desired power-grasping location is close to the support surface on which the object is placed. First, to power-grasp the object, candidate rotation axes on the object and in contact with the support surface are derived based on a mesh model of the object. Then, for each such axis, the object pose that allows power grasping is obtained. Finally, according to the obtained object pose, the paths for rotating and power-grasping the object are planned. We evaluate the proposed approach through simulations and experiments using two UR5e robot arms with a 2F-85 gripper.
format	article
author	Inhyuk Baek Kyoosik Shin Hyunjun Kim Seunghoon Hwang Eric Demeester Min-Sung Kang
author_facet	Inhyuk Baek Kyoosik Shin Hyunjun Kim Seunghoon Hwang Eric Demeester Min-Sung Kang
author_sort	Inhyuk Baek
title	Pre-Grasp Manipulation Planning to Secure Space for Power Grasping
title_short	Pre-Grasp Manipulation Planning to Secure Space for Power Grasping
title_full	Pre-Grasp Manipulation Planning to Secure Space for Power Grasping
title_fullStr	Pre-Grasp Manipulation Planning to Secure Space for Power Grasping
title_full_unstemmed	Pre-Grasp Manipulation Planning to Secure Space for Power Grasping
title_sort	pre-grasp manipulation planning to secure space for power grasping
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/1f471bf8bf9640cca81feba11824fbcc
work_keys_str_mv	AT inhyukbaek pregraspmanipulationplanningtosecurespaceforpowergrasping AT kyoosikshin pregraspmanipulationplanningtosecurespaceforpowergrasping AT hyunjunkim pregraspmanipulationplanningtosecurespaceforpowergrasping AT seunghoonhwang pregraspmanipulationplanningtosecurespaceforpowergrasping AT ericdemeester pregraspmanipulationplanningtosecurespaceforpowergrasping AT minsungkang pregraspmanipulationplanningtosecurespaceforpowergrasping
_version_	1718373976496930816

Pre-Grasp Manipulation Planning to Secure Space for Power Grasping

Ejemplares similares