Estimation of center of mass of the object to be held by barycentric coordinate system and polygon parcelling

Author

Bozan, Yavuz Selim ; Ozyer, Gulsah Tumuklu ; Ozyer, Baris

Author_Institution

Bilgisayar Muhendisligi Bolumu, Ataturk Univ., Erzurum, Turkey

fYear

2015

fDate

16-19 May 2015

Firstpage

2122

Lastpage

2125

Abstract

Estimation of appropriate contact areas on object is an important problem to determine suitable robot hand shape and contact force to be exerted by the fingers. In this study, a novel method based on barycentric coordinates is proposed for calculating the center of mass of an object to determine the contact points for grasping. Results obtained from barycentric coordinates system are compared against quadrangle/hexagon parcelling algorithms and processing of pixels of the object in image data.

Keywords

computational geometry; manipulators; robot vision; barycentric coordinate system; barycentric coordinates system; center of mass estimation; contact force; contact points; fingers; grasping; hexagon parcelling algorithms; image data; object contact areas; object pixels processing; polygon parcelling; quadrangle parcelling algorithms; robot hand shape; Conferences; Force; Grasping; Random access memory; Robot kinematics; Shape; barycentric coordinate systems; estimation of object center; object grasping;

fLanguage

English

Publisher

ieee

Conference_Titel

Signal Processing and Communications Applications Conference (SIU), 2015 23th

Conference_Location

Malatya

Type

conf

DOI

10.1109/SIU.2015.7130291

Filename

7130291