Using superquadrics for the approximation of objects and its application to grasping
Objects grasping and manipulation is a major task for housold and industrial robots. Sensing the objects with 3D laser scanners generating point clouds is a common approach for gathering object information. The abstraction from the raw pointclouds to high level representations is a necessity in the real world domain. This paper describes a method for the approximation of objects from scenes and an application to grasping with multi fingered hands. For this task a solution based on superquadrics is presented.
Grasping Pointclouds Superquadrics Splitand-Merge
Marcus Strand Zhixing Xue Marius Zoellner Rüdiger Dillmann
Intelligent Systems and Production Engineering (ISPE) FZI - Research Center for Information Technology 76131 Karlsruhe
国际会议
2010 IEEE信息与自动化国际会议(ICIA 2010)
哈尔滨
英文
1-6
2010-06-20（万方平台首次上网日期，不代表论文的发表时间）