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This paper describes a hanging work, which is one of the work related to cloth products. By using deformability and stretchability of clothes successfully, it is possible to efficiently proceed with a hanging work. We focus on cloth wrinkles and superimposed relation of objects, and propose a method to recognize the progress of hanging work on-line. In a detection processing of wrinkles, after using...
Reducing the grasp candidates for unknown object grasping while maintaining grasp stability is the goal of this paper. In this paper, we propose an efficient and straight forward unknown object grasping method by using concavities of the unknown objects to significantly reduce the grasp candidates. Shortest path concavity is first employed to work out the concavity value for every vertex of the unknown...
In this paper, we present a method to classify the category of clothing item. When visually recognizing clothing items based on their shapes, two types of shape variations make the recognition difficult: physical deformation and the variety of size and design. In order to lessen the effect of deformation, first, the item of interest is reshaped into one of a small number of limited shapes. To absorb...
This paper presents a general grasp synthesis algorithm. The algorithm follows a stochastic approach that calculate a large number of grasps with good quality in short amount of time. It takes as an input a 3D point cloud that represents the contact points of the object and heuristically selects concurrent points which are covered by contact points and identifies concurrent grasps from such contact...
Most objects are composed of parts which have a semantic meaning. Ahandle can have many different shapes and can be present in quite different objects, but there is only one semantic meaning to a handle, which is "a part that is designed especially to be grasped by the hand". We introduce here a novel 3D algorithm named CPS for the decomposition of objects into their semantically meaningful...
This paper deals with the problem of determining independent contacts regions (ICRs) on 2D articulated objects, such that a finger contact in each region guarantees a force-closure (FC) immobilization, independently of the exact position of the finger. These regions allow a robust finger or fixture placement on the links of the articulated object, despite of possible errors in the position of the...
This paper describes grasp point selection on an item of clothing randomly placed on a table. The input data for our proposed method is a range image captured from a fixed, 3D range camera. Hem elements are extracted from the data, and their relationships are characterized for both similarity measures and grasp point evaluation. Experiments using real images, targeting a piece of clothing, show the...
Recognizing and grasping object of robots are two crucial issues for robots accomplishing complicated tasks in unstructured environments, where object representation is a key premise problem. In this paper, we study the representation methods for (1) object recognition, SHOT descriptor is further described by using Tsallis entropy, which greatly reduces the storage and the computation time; (2) grasp...
We present a novel method for three-finger precision grasp and its implementation in a complete grasping tool-chain. We start from binocular vision to recover the partial 3D structure of unknown objects. We then process the incomplete 3D point clouds searching for good triplets according to a function that accounts for both the feasibility and the stability of the solution. In particular, while stability...
We present a real-world robotic agent that is capable of transferring grasping strategies across objects that share similar parts. The agent transfers grasps across objects by identifying, from examples provided by a teacher, parts by which objects are often grasped in a similar fashion. It then uses these parts to identify grasping points onto novel objects. We focus our report on the definition...
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