Title :
A fast two dimensional image based grasp planner
Author :
Stanley, Kevin ; Wu, Jonathan ; Jerbi, Ali ; Gruver, William A.
Author_Institution :
Vision & Scanning Group, Nat. Res. Council of Canada, Vancouver, BC, Canada
Abstract :
This research concerns a grasp-planning algorithm that is fast and capable of determining grasp points for planar nondegenerate objects. We use a novel representation of the target and a quadtree based sampling scheme to generate a set of candidate grasps which are evaluated using a cost function. This function returns the first acceptable grasp point it finds. The resulting system has an execution time of seconds and is suitable for a large number of planar grasp planning problems
Keywords :
computational complexity; image processing; manipulators; quadtrees; cost function; execution time; fast 2D image based grasp planner; planar nondegenerate objects; quadtree based sampling scheme; target representation; Assembly; Constraint theory; Cost function; Councils; IEEE members; Mechanical sensors; Power system planning; Sampling methods; Shape; Stability;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.813015
