ICRA 2011 Paper Abstract


Paper TuA1-InteracInterac.8

Ruehl, Steffen Wilhelm (Research Center for Information Technology (FZI)), Hermann, Andreas (Research Center for Information Technology (FZI)), Xue, Zhixing (FZI), Kerscher, Thilo (FZI Forschungszentrum Informatik), Dillmann, Rüdiger (KIT Karlsruher Institut für Technologie)

Graspability: A Description of Work Surfaces for Planning of Robot Manipulation Sequences

Scheduled for presentation during the Poster Sessions "Interactive Session I: Robotic Technology" (TuA1-InteracInterac), Tuesday, May 10, 2011, 08:20−09:35, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Manipulation Planning, Grasping, Service Robots


For complex manipulation with multiple objects a service robot needs information about the structure of its environment including how and where it can manipulate in it. For this purpose, we introduce the emph{Graspability}. It is a measure describing the quality of a pose in Cartesian space for grasping or placing an object. The graspability considers kinematic reachability for a grasping robot and available grasps for the object. It is based on the assumption, that in manipulation tasks, objects tend to be located on a planar surfaces and have to be graspable from that plane. Using that assumption, we develop a discrete map of the environment which enables the use of the graspability in an autonomous planning system for complex manipulation tasks with multiple objects. Generated plans are evaluated on a real world robot.



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