Cooperative grasping through topological object representation

• We present a cooperative grasping approach based on a topological representation of objects. Using point cloud data we extract loops on objects suitable for generating entanglement. We use the Gauss Linking Integral to derive controllers for multi-agent systems that generate hooking grasps on such loops while minimizing the entanglement between robots. The approach copes well with noisy point cloud data, it is computationally simple and robust. We demonstrate the method for performing object grasping and transportation, through a hooking maneuver, with two coordinated NAO robots.

Ämnesord

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Sciences (hsv//eng)

Nyckelord

Anthropomorphic robots

Robots

Topology

Noisy point

Object grasping

Point cloud data

Topological objects

Topological representation

Multi agent systems

Publikations- och innehållstyp

ref (ämneskategori)

kon (ämneskategori)