A novel object slicing based grasp planner for 3D object grasping using underactuated robot gripper.
Sainul Islam AnsarySankha DebAlok Kanti DebPublished in: IECON (2019)
Keyphrases
- d objects
- position and orientation
- pose estimation
- robotic arm
- robotic cell
- motion planning
- vision system
- object recognition
- human robot interaction
- viewpoint
- multi view
- manipulation tasks
- mobile robot
- multiple views
- object manipulation
- hand eye calibration
- three dimensional
- degrees of freedom
- cad models
- shape descriptors
- object views
- range data
- object model
- object classes
- invariant recognition
- line drawings
- object features
- path planning
- real objects
- geometric models
- object matching
- end effector
- curved objects
- three dimensional objects
- object representation
- d mesh
- occluded objects
- physically plausible
- image contours
- real world objects
- visual servoing
- computer vision
- surface patches
- recognition and pose estimation
- pose normalization
- cad model
- robot control