Abstract
In this paper we present an approach for creating complete shape representations from a single depth image for robot grasping. We introduce algorithms for completing partial point clouds based on the analysis of symmetry and extrusion patterns in observed shapes. Identified patterns are used to generate a complete mesh of the object, which is, in turn, used for grasp planning. The approach allows robots to predict the shape of objects and include invisible regions into the grasp planning step. We show that the identification of shape patterns, such as extrusions, can be used for fast generation and optimization of grasps. Finally, we present experiments performed with our humanoid robot executing pick-up tasks based on single depth images and discuss the applications and shortcomings of our approach.
| Original language | English (US) |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 3702-3708 |
| Number of pages | 7 |
| Volume | 2015-June |
| Edition | June |
| DOIs | |
| State | Published - Jun 29 2015 |
| Externally published | Yes |
| Event | 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: May 26 2015 → May 30 2015 |
Other
| Other | 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 |
|---|---|
| Country | United States |
| City | Seattle |
| Period | 5/26/15 → 5/30/15 |
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ASJC Scopus subject areas
- Software
- Artificial Intelligence
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Exploiting symmetries and extrusions for grasping household objects. / Quispe, Ana Huamán; Milville, Benoît; Gutiérrez, Marco A.; Erdogan, Can; Stilman, Mike; Christensen, Henrik; Ben Amor, Hani.
Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2015-June June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 3702-3708 7139713.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Exploiting symmetries and extrusions for grasping household objects
AU - Quispe, Ana Huamán
AU - Milville, Benoît
AU - Gutiérrez, Marco A.
AU - Erdogan, Can
AU - Stilman, Mike
AU - Christensen, Henrik
AU - Ben Amor, Hani
PY - 2015/6/29
Y1 - 2015/6/29
N2 - In this paper we present an approach for creating complete shape representations from a single depth image for robot grasping. We introduce algorithms for completing partial point clouds based on the analysis of symmetry and extrusion patterns in observed shapes. Identified patterns are used to generate a complete mesh of the object, which is, in turn, used for grasp planning. The approach allows robots to predict the shape of objects and include invisible regions into the grasp planning step. We show that the identification of shape patterns, such as extrusions, can be used for fast generation and optimization of grasps. Finally, we present experiments performed with our humanoid robot executing pick-up tasks based on single depth images and discuss the applications and shortcomings of our approach.
AB - In this paper we present an approach for creating complete shape representations from a single depth image for robot grasping. We introduce algorithms for completing partial point clouds based on the analysis of symmetry and extrusion patterns in observed shapes. Identified patterns are used to generate a complete mesh of the object, which is, in turn, used for grasp planning. The approach allows robots to predict the shape of objects and include invisible regions into the grasp planning step. We show that the identification of shape patterns, such as extrusions, can be used for fast generation and optimization of grasps. Finally, we present experiments performed with our humanoid robot executing pick-up tasks based on single depth images and discuss the applications and shortcomings of our approach.
UR - http://www.scopus.com/inward/record.url?scp=84938244979&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84938244979&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7139713
DO - 10.1109/ICRA.2015.7139713
M3 - Conference contribution
VL - 2015-June
SP - 3702
EP - 3708
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
ER -