ICRA 201615 citations
Rope caging and grasping
Tsz-Ho Kwok, Weiwei Wan, Jia Pan, Charlie C. L. Wang, Jianjun Yuan, Kensuke Harada, Yong Chen
Abstract
We present a novel method for caging grasps in this paper by stretching ropes on the surface of a 3D object. Both topology and shape of a model to be grasped has been considered in our approach. Our algorithm can guarantee generating local minimal rings on every topological branches of a given model with the help of a Reeb graph. Cages and grasps can then be computed from these rings, and physical experimental tests have been conducted to verify the robustness of our approach.
BibTeX
@inproceedings{icra2016_ropecagingandgra,
title = {Rope caging and grasping},
author = {Tsz-Ho Kwok and Weiwei Wan and Jia Pan and Charlie C. L. Wang and Jianjun Yuan and Kensuke Harada and Yong Chen},
booktitle = {ICRA 2016},
year = {2016}
}