Grasping by parallel shape matching
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| Vydáno v: | arXiv.org (Dec 11, 2024), p. n/a |
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Cornell University Library, arXiv.org
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| On-line přístup: | Citation/Abstract Full text outside of ProQuest |
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| LEADER | 00000nab a2200000uu 4500 | ||
|---|---|---|---|
| 001 | 3143451564 | ||
| 003 | UK-CbPIL | ||
| 022 | |a 2331-8422 | ||
| 035 | |a 3143451564 | ||
| 045 | 0 | |b d20241211 | |
| 100 | 1 | |a Zhang, Wenzheng | |
| 245 | 1 | |a Grasping by parallel shape matching | |
| 260 | |b Cornell University Library, arXiv.org |c Dec 11, 2024 | ||
| 513 | |a Working Paper | ||
| 520 | 3 | |a Grasping is essential in robotic manipulation, yet challenging due to object and gripper diversity and real-world complexities. Traditional analytic approaches often have long optimization times, while data-driven methods struggle with unseen objects. This paper formulates the problem as a rigid shape matching between gripper and object, which optimizes with Annealed Stein Iterative Closest Point (AS-ICP) and leverages GPU-based parallelization. By incorporating the gripper's tool center point and the object's center of mass into the cost function and using a signed distance field of the gripper for collision checking, our method achieves robust grasps with low computational time. Experiments with the Kinova KG3 gripper show an 87.3% success rate and 0.926 s computation time across various objects and settings, highlighting its potential for real-world applications. | |
| 653 | |a Parallel processing | ||
| 653 | |a Matching | ||
| 653 | |a Cost function | ||
| 653 | |a Grasping (robotics) | ||
| 653 | |a Software | ||
| 653 | |a Computing time | ||
| 700 | 1 | |a Fahira Afzal Maken | |
| 700 | 1 | |a Lai, Tin | |
| 700 | 1 | |a Ramos, Fabio | |
| 773 | 0 | |t arXiv.org |g (Dec 11, 2024), p. n/a | |
| 786 | 0 | |d ProQuest |t Engineering Database | |
| 856 | 4 | 1 | |3 Citation/Abstract |u https://www.proquest.com/docview/3143451564/abstract/embedded/ZKJTFFSVAI7CB62C?source=fedsrch |
| 856 | 4 | 0 | |3 Full text outside of ProQuest |u http://arxiv.org/abs/2412.08346 |