Exploiting symmetries and extrusions for grasping household objects

Ana Huamán Quispe; Benoît Milville; Marco A. Gutiérrez; Can Erdogan; Mike Stilman; Henrik Christensen; Hani Ben Amor

doi:10.1109/ICRA.2015.7139713

Exploiting symmetries and extrusions for grasping household objects

Ana Huamán Quispe, Benoît Milville, Marco A. Gutiérrez, Can Erdogan, Mike Stilman, Henrik Christensen, Hani Ben Amor

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

16 Scopus citations

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	https://doi.org/10.1109/ICRA.2015.7139713
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

ASJC Scopus subject areas

Software
Artificial Intelligence
Control and Systems Engineering
Electrical and Electronic Engineering

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Quispe, A. H., Milville, B., Gutiérrez, M. A., Erdogan, C., Stilman, M., Christensen, H., & Ben Amor, H. (2015). Exploiting symmetries and extrusions for grasping household objects. In Proceedings - IEEE International Conference on Robotics and Automation (June ed., Vol. 2015-June, pp. 3702-3708). [7139713] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139713

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

Quispe, AH, Milville, B, Gutiérrez, MA, Erdogan, C, Stilman, M, Christensen, H & Ben Amor, H 2015, Exploiting symmetries and extrusions for grasping household objects. in Proceedings - IEEE International Conference on Robotics and Automation. June edn, vol. 2015-June, 7139713, Institute of Electrical and Electronics Engineers Inc., pp. 3702-3708, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, United States, 5/26/15. https://doi.org/10.1109/ICRA.2015.7139713

Quispe AH, Milville B, Gutiérrez MA, Erdogan C, Stilman M, Christensen H et al. Exploiting symmetries and extrusions for grasping household objects. In Proceedings - IEEE International Conference on Robotics and Automation. June ed. Vol. 2015-June. Institute of Electrical and Electronics Engineers Inc. 2015. p. 3702-3708. 7139713 https://doi.org/10.1109/ICRA.2015.7139713

Quispe, Ana Huamán ; Milville, Benoît ; Gutiérrez, Marco A. ; Erdogan, Can ; Stilman, Mike ; Christensen, Henrik ; Ben Amor, Hani. / Exploiting symmetries and extrusions for grasping household objects. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2015-June June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 3702-3708

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AU - Christensen, Henrik

AU - Ben Amor, Hani

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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.

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Exploiting symmetries and extrusions for grasping household objects

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