Rope Caging and Grasping

Conference paper (2016)

Authors

C.C. Wang Materials and Manufacturing - IDE
Research Group
Materials and Manufacturing (IDE) (TU Delft)
Copyright: © 2016 T.H. Kwok, W. Wan, J. Pan, C.C. Wang, J. Yuan, K Harada, Y. Chen
DOI: https://doi.org/10.1109/ICRA.2016.7487345
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Published Date

2016

Language

English

Reuse Rights

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Faculty

Industrial Design Engineering

Department

Sustainable Design Engineering

Research Group

Materials and Manufacturing

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.

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