Restraining objects with curved effectors and its application to whole-arm grasping

Jungwon Seo; Mark Yim; Vijay Kumar

doi:10.1007/978-3-319-28872-7_24

Restraining objects with curved effectors and its application to whole-arm grasping

Jungwon Seo^*, Mark Yim, Vijay Kumar

^*Corresponding author for this work

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

Abstract

This paper develops the theory and algorithms for immobilizing/caging polyhedral objects using curved (for example, planar, cylindrical, or spherical) effectors, in contrast to customary point effectors. We show that it is possible to immobilize all polyhedral objects with three effectors with possibly nonzero curvature, with finite extent. We further discuss how to cage the objects and obtain a stable grasp from such a cage. The theory can also be applied to immobilize/cage polygonal objects on the plane. As one application of the theory, we address the problem of whole-arm grasping with robot arms.

Original language	English
Title of host publication	Robotics Research - 16th International Symposium ISRR
Editors	Peter Corke, Masayuki Inaba
Publisher	Springer Verlag
Pages	411-427
Number of pages	17
ISBN (Print)	9783319288703
DOIs	https://doi.org/10.1007/978-3-319-28872-7_24
Publication status	Published - 2016
Externally published	Yes
Event	16th International Symposium of Robotics Research, ISRR 2013 - Singapore, Singapore Duration: 16 Dec 2013 → 19 Dec 2013

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	114
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

Conference

Conference	16th International Symposium of Robotics Research, ISRR 2013
Country/Territory	Singapore
City	Singapore
Period	16/12/13 → 19/12/13

Bibliographical note

Publisher Copyright:
© Springer International Publishing Switzerland 2016.

Access to Document

10.1007/978-3-319-28872-7_24

Cite this

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title = "Restraining objects with curved effectors and its application to whole-arm grasping",

abstract = "This paper develops the theory and algorithms for immobilizing/caging polyhedral objects using curved (for example, planar, cylindrical, or spherical) effectors, in contrast to customary point effectors. We show that it is possible to immobilize all polyhedral objects with three effectors with possibly nonzero curvature, with finite extent. We further discuss how to cage the objects and obtain a stable grasp from such a cage. The theory can also be applied to immobilize/cage polygonal objects on the plane. As one application of the theory, we address the problem of whole-arm grasping with robot arms.",

author = "Jungwon Seo and Mark Yim and Vijay Kumar",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2016.; 16th International Symposium of Robotics Research, ISRR 2013 ; Conference date: 16-12-2013 Through 19-12-2013",

year = "2016",

doi = "10.1007/978-3-319-28872-7\_24",

language = "English",

isbn = "9783319288703",

series = "Springer Tracts in Advanced Robotics",

publisher = "Springer Verlag",

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editor = "Peter Corke and Masayuki Inaba",

booktitle = "Robotics Research - 16th International Symposium ISRR",

}

Seo, J, Yim, M & Kumar, V 2016, Restraining objects with curved effectors and its application to whole-arm grasping. in P Corke & M Inaba (eds), Robotics Research - 16th International Symposium ISRR. Springer Tracts in Advanced Robotics, vol. 114, Springer Verlag, pp. 411-427, 16th International Symposium of Robotics Research, ISRR 2013, Singapore, Singapore, 16/12/13. https://doi.org/10.1007/978-3-319-28872-7_24

Restraining objects with curved effectors and its application to whole-arm grasping. / Seo, Jungwon; Yim, Mark; Kumar, Vijay.
Robotics Research - 16th International Symposium ISRR. ed. / Peter Corke; Masayuki Inaba. Springer Verlag, 2016. p. 411-427 (Springer Tracts in Advanced Robotics; Vol. 114).

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

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AU - Kumar, Vijay

N1 - Publisher Copyright: © Springer International Publishing Switzerland 2016.

PY - 2016

Y1 - 2016

N2 - This paper develops the theory and algorithms for immobilizing/caging polyhedral objects using curved (for example, planar, cylindrical, or spherical) effectors, in contrast to customary point effectors. We show that it is possible to immobilize all polyhedral objects with three effectors with possibly nonzero curvature, with finite extent. We further discuss how to cage the objects and obtain a stable grasp from such a cage. The theory can also be applied to immobilize/cage polygonal objects on the plane. As one application of the theory, we address the problem of whole-arm grasping with robot arms.

AB - This paper develops the theory and algorithms for immobilizing/caging polyhedral objects using curved (for example, planar, cylindrical, or spherical) effectors, in contrast to customary point effectors. We show that it is possible to immobilize all polyhedral objects with three effectors with possibly nonzero curvature, with finite extent. We further discuss how to cage the objects and obtain a stable grasp from such a cage. The theory can also be applied to immobilize/cage polygonal objects on the plane. As one application of the theory, we address the problem of whole-arm grasping with robot arms.

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PB - Springer Verlag

T2 - 16th International Symposium of Robotics Research, ISRR 2013

Y2 - 16 December 2013 through 19 December 2013

ER -

Restraining objects with curved effectors and its application to whole-arm grasping

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