Print Email Facebook Twitter Rope Caging and Grasping Title Rope Caging and Grasping Author Kwok, T.H. Wan, W. Pan, J. Wang, C.C. (TU Delft Materials and Manufacturing) Yuan, J. Harada, K Chen, Y. Date 2016 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 beenconsidered 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 andgrasps can then be computed from these rings, and physical experimental tests have been conducted to verify the robustness of our approach. Subject graph theorygrippersobject recognition To reference this document use: http://resolver.tudelft.nl/uuid:df9242e6-0bed-4a54-a7c6-1cfb95b9ae3a DOI https://doi.org/10.1109/ICRA.2016.7487345 Publisher IEEE Society, Piscataway ISBN 978-1-4673-8025-6 Source 2016 IEEE International Conference on Robotics and Automation Event IEEE International Conference on Robotics and Automation (ICRA 2016), 2016-05-16 → 2016-05-21, Stockholm, Sweden Bibliographical note Author accepted manuscript Part of collection Institutional Repository Document type conference paper Rights © 2016 T.H. Kwok, W. Wan, J. Pan, C.C. Wang, J. Yuan, K Harada, Y. Chen Files PDF ICRA16_0665_FI.pdf 2.34 MB Close viewer /islandora/object/uuid:df9242e6-0bed-4a54-a7c6-1cfb95b9ae3a/datastream/OBJ/view