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Authors: Brayan S. Zapata-Impata ; Carlos M. Mateo ; Pablo Gil and Jorge Pomares

Affiliation: University of Alicante, Spain

Keyword(s): Grasping, 3D Point Clouds, Surface Detection, Handle Grasping, Unknown Object Manipulation.

Abstract: In this paper, we focus on the task of computing a pair of points for grasping unknown objects, given a single point cloud scene with a partial view of them. The main goal is to estimate the best pair of 3D-located points so that a gripper can perform a stable grasp over the objects in the scene with no prior knowledge of their shape. We propose a geometrical approach to find those contact points by placing them near a perpendicular cutting plane to the object’s main axis and through its centroid. During the experimentation we have found that this solution is fast enough and gives sufficiently stable grasps for being used on a real service robot.

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Paper citation in several formats:
Zapata-Impata, B.; Mateo, C.; Gil, P. and Pomares, J. (2017). Using Geometry to Detect Grasping Points on 3D Unknown Point Cloud. In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-264-6; ISSN 2184-2809, SciTePress, pages 292-299. DOI: 10.5220/0006470701540161

@conference{icinco17,
author={Brayan S. Zapata{-}Impata. and Carlos M. Mateo. and Pablo Gil. and Jorge Pomares.},
title={Using Geometry to Detect Grasping Points on 3D Unknown Point Cloud},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2017},
pages={292-299},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006470701540161},
isbn={978-989-758-264-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Using Geometry to Detect Grasping Points on 3D Unknown Point Cloud
SN - 978-989-758-264-6
IS - 2184-2809
AU - Zapata-Impata, B.
AU - Mateo, C.
AU - Gil, P.
AU - Pomares, J.
PY - 2017
SP - 292
EP - 299
DO - 10.5220/0006470701540161
PB - SciTePress

- Science and Technology Publications, Lda.
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