Hostname: page-component-76fb5796d-vfjqv Total loading time: 0 Render date: 2024-04-25T08:48:42.225Z Has data issue: false hasContentIssue false
  • English
  • Français

Optimal independent contact regions for two-fingered grasping of polygon

Published online by Cambridge University Press:  05 October 2011

Thanathorn Phoka ,
Pawin Vongmasa ,
Chaichana Nilwatchararang ,
Peam Pipattanasomporn  and
Attawith Sudsang
Thanathorn Phoka
Affiliation:
Department of Computer Engineering, Faculty of Engineering, Chulalongkorn University, 10330, Thailand
Pawin Vongmasa
Affiliation:
Institute for Computational and Mathematical Engineering, Stanford University, CA 94305, USA
Chaichana Nilwatchararang
Affiliation:
Department of Computer Engineering, Faculty of Engineering, Chulalongkorn University, 10330, Thailand
Peam Pipattanasomporn
Affiliation:
Department of Computer Engineering, Faculty of Engineering, Chulalongkorn University, 10330, Thailand
Attawith Sudsang*
Affiliation:
Department of Computer Engineering, Faculty of Engineering, Chulalongkorn University, 10330, Thailand
*
*Corresponding author. E-mail: attawith@gmail.com
Get access Rights & Permissions [Opens in a new window]

Summary

As every real mechanical hand has a limited accuracy, the grasp planning process must be prepared to cope with unavoidable positioning errors. The concept of independent contact regions (ICRs) was proposed to deal with this issue by computing for each finger an ICR on the object's boundary such that each finger can be placed anywhere in its ICR to guarantee a force closure grasp. Existing methods for computing ICRs of a polygon requires that each ICR must lie on a single edge of the polygon. This constraint severely limits the size of computed ICRs, especially when the input polygon contains only small edges (e.g., when the polygon is used for representing a curve object). This paper proposes a method for computing the optimal ICRs for frictional two-fingered grasp of a polygon such that each ICR is allowed to extend across consecutive edges of the polygon. The time complexity of the method is O(n2log n), where n is the number of edges of the polygon. Implementation results using several test polygons are presented to exhibit effectiveness of the method.

Keywords

Grasp planningForce closure graspTwo-fingered graspIndependent contact regions
Type
Articles
Information
Robotica , Volume 30 , Issue 6 , October 2012 , pp. 879 - 889
Copyright
Copyright © Cambridge University Press 2011

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Bicchi, A., “On the closure properties of robotic grasping,” Int. J. Robot. Res. 14 (4), 319–334 (1995).CrossRefGoogle Scholar
2.Kirkpatrick, D., Mishra, B. and Yap, C., “Quantitative Steinitz's Theorems with Applications to Multifingered Grasping,” In: Proceedings of the 20th ACM Symposium on Theory of Computing, Baltimore, MD (1990) pp. 341–351.Google Scholar
3.Ferrari, C. and Canny, J., “Planning Optimal Grasps,” In: Proceedings of IEEE International Conference on Robotics and Automation, Nice, France (1992) pp. 2290–2295.Google Scholar
4.Mirtich, B. and Canny, J., “Optimum Force-Closure Grasps,” Technical Report ESRC 93-11/RAMP 93-5 (Robotics, Automation and Manufacturing Program, University of California at Berkeley 1993).Google Scholar
5.Borst, C., Fischer, M. and Hirzinger, G., “Grasping the Dice by Dicing the Grasp,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, USA (Oct. 27–Nov. 1, 2003).Google Scholar
6.Jia, Y.-B., “On Computing Optimal Planar Grasps,” Proceedings of IEEE International Conference on Robotics and Automation, Japan (May 21–27, 1995).Google Scholar
7.Zhu, X. and Wang, J., “Synthesis of force-closure grasps on 3-d objects based on the q distance,” IEEE Trans. Robot. Autom. 19 (4), 669–679 (2003).Google Scholar
8.Brost, R., “Automatic grasp planning in the presence of uncertainty,” Int. J. Robot. Res. 7 (1), 3–17 (1988).CrossRefGoogle Scholar
9.Zheng, Y. and Qian, W.-H., “Coping with the grasping uncertainties in force-closure analysis,” Int. J. Robot. Res. 24 (4), 311–327 (2005).CrossRefGoogle Scholar
10.Christopoulos, V. and Schrater, P., “Handling Shape and Contact Location Uncertainty in Grasping Two-Dimensional Planar Objects.” In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, California (Oct. 29–Nov. 2, 2007) pp. 1557–1563.Google Scholar
11.Dollar, A. and Howe, R., “Simple, Robust Autonomous Grasping in Unstructured Environments,” In: Proceedings of IEEE International Conference on Robotics and Automation, Roma, Italy (Apr. 10–14, 2007) pp. 4693–4700.CrossRefGoogle Scholar
12.Felip, J. and Morales, A., “Robust Sensor-Based Grasp Primitive for a Three-Finger Robot Hand,” In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, USA (Oct. 11–15, 2009) pp. 1811–1816.Google Scholar
13.Kim, D.-J., Lovelett, R. and Behal, A., “Eye-in-Hand Stereo Visual Servoing of an Assistive Robot Arm in Unstructured Environments,” In: Proceedings of IEEE International Conference on Robotics and Automation, Kobe, Japan (May 12–17, 2009) pp. 2326–2331.Google Scholar
14.Nguyen, V.-D., “Constructing force-closure grasps,” Int. J. Robot. Res. 7 (3), 3–16 (1988).CrossRefGoogle Scholar
15.Tung, C. P. and Kak, A. C., “Fast construction of force-closure grasps,” IEEE Trans. Robot. Autom. 12 (4), 615–626 (1996).CrossRefGoogle Scholar
16.Ponce, J. and Faverjon, B., “On computing three-finger force-closure grasps of polygonal objects,” IEEE Trans. Robot. Autom. 11 (6), 868–881 (1995).CrossRefGoogle Scholar
17.Cornellá, J. and Suárez, R., “Fast and Flexible Determination of Force-Closure Independent Regions to Grasp Polygonal Objects,” Proceedings of IEEE International Conference on Robotics and Automation, Barcelona, Spain (Apr. 18–22, 2005).Google Scholar
18.Sanz, P., Requena, A., Iñesta, J. and Del Pobil, A., “Grasping the not-so-obvious: Vision-based object handling for industrial applications,” IEEE Robot. Autom. Mag. 12 (3), 44–52 (2005).CrossRefGoogle Scholar
19.Chinellato, E., Morales, A., Fisher, R. and del Pobil, A., “Visual quality measures for characterizing planar robot grasps,” IEEE Trans. Syst. Man Cybern. C, Appl. Rev. 35 (1), 30–41 (2005).CrossRefGoogle Scholar
20.Recatalá, G., Carloni, R., Melchiorri, C., Sanz, P., Cervera, E. and del Pobil, A., “Vision-based grasp tracking for planar objects,” IEEE Trans. Syst. Man Cybern. C, Appl. Rev. 38 (6), 844–849 (2008).CrossRefGoogle Scholar
21.Ito, S., Takeuchi, S. and Sasaki, M., “Object orientation in two dimensional grasp with friction towards minimization of gripping power,” Biol. Cybern. 101 (3), 215–226 (2009).CrossRefGoogle ScholarPubMed
22.Cornellá, J. and Suárez, R., “A New Framework for Planning Three-Finger Grasps of 2d Irregular Objects,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China (Oct. 9–13, 2006).Google Scholar
23.Roa, M. and Suárez, R., “Computation of independent contact regions for grasping 3-D objects,” IEEE Trans. Robot. 25 (4), 839–850 (2009).CrossRefGoogle Scholar
24.Chen, I.-M. and Burdick, J., “Finding antipodal point grasps on irregularly shaped objects,” IEEE Trans. Robot. Autom. 9 (4), 507–512 (1993).CrossRefGoogle Scholar
25.Blake, A., “A symmetry theory of planar grasp,” Int. J. Robot. Res. 14 (5), 425–444 (1995).CrossRefGoogle Scholar
26.Jia, Y.-B., “Computation on parametric curves with an application in grasping,” Int. J. Robot. Res. 13 (7–8), 825–855 (2004).Google Scholar
27.Ponce, J., Stam, D. and Faverjon, B., “On computing two-finger force-closure grasps of curved 2D objects,” Int. J. Robot. Res. 12 (3), 263–273 (1993).CrossRefGoogle Scholar
28.Phoka, T., Vongmasa, P., Nilwatchararang, C., Pipattanasomporn, P. and Sudsang, A., “Planning Optimal Independent Contact Regions for Two-Fingered Force-Closure Grasp of a Polygon,” In: Proceedings of IEEE International Conference on Robotics and Automation, Pasadena, California (May 19–23, 2008) pp. 1175–1180.Google Scholar
29.Cheong, J.-S., Haverkort, H. J. and van der Stappen, A. F., “Computing all immobilizing grasps of a simple polygon with few contacts,” Algorithmica 44, 117–136 (2006).CrossRefGoogle Scholar
30.Papadopoulou, E. and Lee, D. T., “The l ∞-voronoi diagram of segments and vlsi applications,” Int. J. Comput. Geom. Appl. 11 (5), 503–528 (2001).CrossRefGoogle Scholar
31.de Berg, M., van Kreveld, M., Overmars, M. and Schwarzkopf, O., Computational Geometry: Algorithms and Applications (Springer, New York, 1997).CrossRefGoogle Scholar
32.Dey, T. K., Curve and Surface Reconstruction (Cambridge University Press, New York, 2007).Google Scholar
33.Speth, J., Morales, A. and Sanz, P. J., “Vision-Based Grasp Planning of 3D Objects by Extending 2D Contour Based Algorithms,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France (Sep. 22–26, 2008).Google Scholar
34.Goldfeder, C., Ciocarlie, M., Dang, H. and Allen, P.. “The Columbia Grasp Database,” In: Proceedings of IEEE International Conference on Robotics and Automation, Kobe, Japan (May 12–17, 2009) pp. 1710–1716.Google Scholar