A fast two dimensional image based grasp planner

This research concerns a grasp-planning algorithm that is fast and capable of determining grasp points for planar nondegenerate objects. We use a novel representation of the target and a quadtree based sampling scheme to generate a set of candidate grasps which are evaluated using a cost function. This function returns the first acceptable grasp point it finds. The resulting system has an execution time of seconds and is suitable for a large number of planar grasp planning problems.

Authors

• Kevin G. Stanley
• Q. M. Jonathan Wu
• Ali Jerbi
• William A. Gruver

Keywords

• Cost function
• Power system planning
• IEEE members
• Councils
• Sampling methods
• Mechanical sensors
• Stability
• Shape
• Assembly
• Constraint theory
• Objective Function
• Evaluation Of Function
• Center Of Mass
• Central Area
• Exterior
• Fitness Function
• Target Object
• Level Of Resolution
• Gradient Direction
• Object Boundaries
• Collision Detection
• Gradient Magnitude
• Image Histogram
• Convex Polygon
• Shape Classification
• Sensor Inputs
• Surface Normals
• Gradient Orientation
• Visual Servoing
• Target Boundary
• Dexterity
• Tree Level
• Early Stopping
• Complex Target