Optimal Grasping Pose Synthesis in a Constrained Environment
In the last few decades, several approaches have been presented to accomplish tasks with robots or autonomous systems in a glovebox; nevertheless, in nuclear facilities, risky operations are still executed by humans that guarantee a high manipulation capability and dexterity. Inside the gloveboxes,...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-12-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/10/1/4 |
| _version_ | 1827699176892268544 |
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| author | Alessandro Altobelli Ozan Tokatli Guy Burroughes Robert Skilton |
| author_facet | Alessandro Altobelli Ozan Tokatli Guy Burroughes Robert Skilton |
| author_sort | Alessandro Altobelli |
| collection | DOAJ |
| description | In the last few decades, several approaches have been presented to accomplish tasks with robots or autonomous systems in a glovebox; nevertheless, in nuclear facilities, risky operations are still executed by humans that guarantee a high manipulation capability and dexterity. Inside the gloveboxes, robotic devices have to operate in cluttered environments, or environments with limited space for movement; therefore, it is of significant interest to identify grasping poses that are feasible within such constrained environments. In this paper, we present and experimentally evaluate a strategy to synthesise optimal grasps considering geometric primitives for a manipulation systems in a constrained environment. The novel strategy has been experimentally evaluated in a cluttered environment (as a glovebox mock-up) with realistic objects, and the efficacy of the proposed grasping algorithm is proposed. |
| first_indexed | 2024-03-10T13:45:13Z |
| format | Article |
| id | doaj.art-1f71e714d12f4bb298c4d88b020be921 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-10T13:45:13Z |
| publishDate | 2020-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-1f71e714d12f4bb298c4d88b020be9212023-11-21T02:40:42ZengMDPI AGRobotics2218-65812020-12-01101410.3390/robotics10010004Optimal Grasping Pose Synthesis in a Constrained EnvironmentAlessandro Altobelli0Ozan Tokatli1Guy Burroughes2Robert Skilton3RACE, United Kingdom Atomic Energy Authority, Culham Science Centre, Abingdon OX14 3DB, UKRACE, United Kingdom Atomic Energy Authority, Culham Science Centre, Abingdon OX14 3DB, UKRACE, United Kingdom Atomic Energy Authority, Culham Science Centre, Abingdon OX14 3DB, UKRACE, United Kingdom Atomic Energy Authority, Culham Science Centre, Abingdon OX14 3DB, UKIn the last few decades, several approaches have been presented to accomplish tasks with robots or autonomous systems in a glovebox; nevertheless, in nuclear facilities, risky operations are still executed by humans that guarantee a high manipulation capability and dexterity. Inside the gloveboxes, robotic devices have to operate in cluttered environments, or environments with limited space for movement; therefore, it is of significant interest to identify grasping poses that are feasible within such constrained environments. In this paper, we present and experimentally evaluate a strategy to synthesise optimal grasps considering geometric primitives for a manipulation systems in a constrained environment. The novel strategy has been experimentally evaluated in a cluttered environment (as a glovebox mock-up) with realistic objects, and the efficacy of the proposed grasping algorithm is proposed.https://www.mdpi.com/2218-6581/10/1/4gloveboxnuclear roboticsgraspingautonomous systemwaste decommissioning |
| spellingShingle | Alessandro Altobelli Ozan Tokatli Guy Burroughes Robert Skilton Optimal Grasping Pose Synthesis in a Constrained Environment Robotics glovebox nuclear robotics grasping autonomous system waste decommissioning |
| title | Optimal Grasping Pose Synthesis in a Constrained Environment |
| title_full | Optimal Grasping Pose Synthesis in a Constrained Environment |
| title_fullStr | Optimal Grasping Pose Synthesis in a Constrained Environment |
| title_full_unstemmed | Optimal Grasping Pose Synthesis in a Constrained Environment |
| title_short | Optimal Grasping Pose Synthesis in a Constrained Environment |
| title_sort | optimal grasping pose synthesis in a constrained environment |
| topic | glovebox nuclear robotics grasping autonomous system waste decommissioning |
| url | https://www.mdpi.com/2218-6581/10/1/4 |
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