Fast Grasp Planning Using Cord Geometry


During this paper, we propose a novel idea to deal with the problem of quick computation of stable force-closure grasp configurations for a multifingered hand and a 3-D rigid object represented as a polygonal soup model. The proposed technique performs a low-level shape exploration by wrapping multiple cords around the item in order to quickly isolate promising grasping regions. Around these regions, we have a tendency to compute grasp configurations by applying a variant of the shut-until-contact procedure to seek out the contact points. The finger kinematics and the contact info are then used to filter out unstable grasps. Through many simulated examples with three completely different anthropomorphic hands, we tend to demonstrate that, compared with previous grasp planners such as the generic grasp planner in Simox, the proposed grasp planner can synthesize grasps that are a lot of natural-wanting for humans (as measured by the grasp quality live skewness) for objects with complex geometries in a very short quantity of time. In contrast to several alternative planners, this is often achieved without expensive model preprocessing like segmentation by elements and medial axis extraction.

Did you like this research project?

To get this research project Guidelines, Training and Code... Click Here

PROJECT TITLE : Deep Guided Learning for Fast Multi-Exposure Image Fusion ABSTRACT: MEF-Net is a rapid multi-exposure image fusion (MEF) approach for static image sequences of adjustable spatial resolution and exposure number
PROJECT TITLE : Fast Adaptive Bilateral Filtering ABSTRACT: For edge-preserving smoothing, a fixed Gaussian range kernel and a spatial kernel are employed in the bilateral filter. It is possible to generalise this filter by allowing
PROJECT TITLE : Fast High-Dimensional Bilateral and Nonlocal Means Filtering ABSTRACT: Currently available rapid methods for bilateral and nonlocal means filtering are limited to grayscale images. High-dimensional data, such as
PROJECT TITLE : On-Device Scalable Image-Based Localization via Prioritized Cascade Search and Fast One-Many RANSAC ABSTRACT: We describe a complete on-device solution for large-scale image-based urban localisation. Compact image
PROJECT TITLE : Fast Fault Diagnosis Method for Hall Sensors in Brushless DC Motor Drives ABSTRACT: Because of their simplicity and low cost, brushless direct current motors with Hall sensors are frequently employed in a wide

Ready to Complete Your Academic MTech Project Work In Affordable Price ?

Project Enquiry