Grasp moduli spaces and spherical harmonics
Grasp moduli spaces and spherical harmonics
复制标题
掌握模空间和球谐函数
DOI：
10.1109/icra.2014.6906886
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
D. Kragic
中科院分区：
文献类型：
--
作者：
Florian T. Pokorny;Yasemin Bekiroglu;D. Kragic
在这项工作中，我们提出了一种新颖的表征方法，通过表征物体并在公共空间中共同抓取物体，使机器人能够对各种物体进行推理、转移和优化抓取。在我们的方法中，通过光谱分析从点云数据中获得的光滑可微函数对目标进行参数化。我们展示了如何从各种物体的点云数据开始，人们可以利用这个由抓手和光滑表面组成的空间，以便连续变形各种表面/抓手配置，目标是在新物体上合成力闭合抓手。我们使用多维缩放说明了现实世界对象集合的最终形状空间，并表明我们的公式自然地使我们能够使用梯度上升方法来优化并同时将从已知对象到新对象的抓取变形。
In this work, we present a novel representation which enables a robot to reason about, transfer and optimize grasps on various objects by representing objects and grasps on them jointly in a common space. In our approach, objects are parametrized using smooth differentiable functions which are obtained from point cloud data via a spectral analysis. We show how, starting with point cloud data of various objects, one can utilize this space consisting of grasps and smooth surfaces in order to continuously deform various surface/grasp configurations with the goal of synthesizing force closed grasps on novel objects. We illustrate the resulting shape space for a collection of real world objects using multidimensional scaling and show that our formulation naturally enables us to use gradient ascent approaches to optimize and simultaneously deform a grasp from a known object towards a novel object.