Name
Abstract | ||
|---|---|---|
In this work, we present an integrated approach for planning collision-free grasping motions. Therefore, rapidly exploring random tree (RRT)-based algorithms are used to build a tree of reachable and collision-free configurations. During tree generation, both grasp hypotheses and approach movements toward them are computed. The quality of reachable grasping poses is evaluated using grasp wrench space (GWS) analysis. We present an extension to a dual-arm planner that generates bimanual grasps together with collision-free dual-arm grasping motions. The algorithms are evaluated with different setups in simulation and on the humanoid robot ARMAR-III (Figure 1). |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/MRA.2012.2192171 | Robotics & Automation Magazine, IEEE |
Keywords | Field | DocType |
dexterous manipulators,humanoid robots,mobile robots,path planning,random processes,reachability analysis,trees (mathematics),GWS analysis,RRT-based algorithm,bimanual grasps,collision-free dual-arm grasping motions,collision-free grasping motion planning,dual-arm planner,grasp hypotheses,grasp wrench space analysis,humanoid robot ARMAR-III,rapidly exploring random tree-based algorithm,reachable collision-free configuration,reachable grasping,tree generation | Motion planning,Computer vision,GRASP,Algorithm design,Simulation,Computer science,Stochastic process,Tree generation,Wrench,Artificial intelligence,Mobile robot,Humanoid robot | Journal |
Volume | Issue | ISSN |
19 | 2 | 1070-9932 |
Citations | PageRank | References |
20 | 0.85 | 14 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Nikolaus Vahrenkamp | 1 | 214 | 17.97 |
| tamim asfour | 2 | 1889 | 151.86 |
| Rüdiger Dillmann | 3 | 433 | 43.19 |