Powered by OpenAIRE graph
Found an issue? Give us feedback
image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ ZENODO; Archivio ist...arrow_drop_down
image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
versions View all 6 versions
addClaim

This Research product is the result of merged Research products in OpenAIRE.

You have already added 0 works in your ORCID record related to the merged Research product.

Towards a Generic Grasp Planning Pipeline using End-Effector Specific Primitive Grasping Actions

Authors: Liana Bertoni; Davide Torielli; Yifang Zhang; Nikos G. Tsagarakis; Luca Muratore;

Towards a Generic Grasp Planning Pipeline using End-Effector Specific Primitive Grasping Actions

Abstract

In the past few years, several robotic end-effectors based on diverse kinematics and actuation principles have been developed to provide grasping and manipulation functionalities. To ease the control and application of these wide-ranging end-effectors, the development of effective reusable tools that can facilitate the end-effector motion planning and control is necessary. In this work, we introduce a generic grasp planner that leverages on the concept of the primitive grasping actions. Given the specific characteristics of an end-effector, including its kinematic and actuation arrangements, a number of primitive grasping actions are extracted and employed by the proposed grasp planner to autonomously plan and synthesize more complex grasping behaviours. The grasp planner is validated through experimental trials involving the HERI II robotic hand, a four-fingers tendon-driven under-actuated hand. The results of these experiments demonstrate the efficacy of the proposed method to generate appropriate planning actions enabling to grasp objects of different shapes.

Country
Italy
Keywords

Grasping, Planner, Control

23 references, page 1 of 3

[1] Piazza, C., et al. ”A century of robotic hands.” Annual Review of Control, Robotics, and Autonomous Systems 2 (2019): 1-32..

[2] Shimoga, Karun B. ”Robot grasp synthesis algorithms: A survey”, IJRR, 15.3 (1996): 230-266. [OpenAIRE]

[3] Bohg, Jeannette, et al. ”Data-driven grasp synthesis-a survey.” IEEE TRO 30.2 (2013): 289-309.

[4] D. Torielli, et al. ”Towards an Open-Source Hardware Agnostic Framework for Robotic End-Effectors Control”, 2021 20th International Conference on Advanced Robotics (ICAR)

[5] REN, Zeyu, et al. HERI II: A robust and flexible robotic hand based on modular finger design and under actuation principles (IROS 2018), p. 1449-1455.

[6] Bicchi, Antonio, and Vijay Kumar. ”Robotic grasping and contact: A review.” Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No. 00CH37065). Vol. 1. IEEE, 2000.

[7] Bicchi, Antonio. ”On the closure properties of robotic grasping.” The International Journal of Robotics Research 14.4 (1995): 319-334.

[8] Garzo´ n, Ma´ximo Roa, and Rau´ l Sua´rez. “Grasp synthesis for 3D objects.” Institut d'Organitzacio´ i Control de Sistemes Industrials, 2006.

[9] Sahbani, Anis, Sahar El-Khoury, and Philippe Bidaud. ”An overview of 3D object grasp synthesis algorithms.” Robotics and Autonomous Systems 60.3 (2012): 326-336.

[10] Roa, Ma´ximo A., and Rau´ l Sua´rez. ”Grasp quality measures: review and performance.” Autonomous robots 38.1 (2015): 65-88. [OpenAIRE]

  • BIP!
    Impact byBIP!
    citations
    This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    1
    popularity
    This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
    Average
    influence
    This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    Average
    impulse
    This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
    Average
    OpenAIRE UsageCounts
    Usage byUsageCounts
    visibility views 101
    download downloads 25
  • citations
    This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    1
    popularity
    This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
    Average
    influence
    This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    Average
    impulse
    This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
    Average
    Powered byBIP!BIP!
  • 101
    views
    25
    downloads
    Powered byOpenAIRE UsageCounts
Powered by OpenAIRE graph
Found an issue? Give us feedback
visibility
download
citations
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
views
OpenAIRE UsageCountsViews provided by UsageCounts
downloads
OpenAIRE UsageCountsDownloads provided by UsageCounts
1
Average
Average
Average
101
25