{"id":3444,"date":"2022-07-13T09:30:00","date_gmt":"2022-07-13T07:30:00","guid":{"rendered":"https:\/\/cirpicme.org\/?page_id=3444"},"modified":"2022-07-26T13:07:29","modified_gmt":"2022-07-26T11:07:29","slug":"automatic-end-tool-alignment-through-plane-detection-with-a-ransac-algorithm-for-robotic-grasping","status":"publish","type":"page","link":"https:\/\/cirpicme.org\/index.php\/robotics-human-robot-collaboration-2\/automatic-end-tool-alignment-through-plane-detection-with-a-ransac-algorithm-for-robotic-grasping\/","title":{"rendered":"Automatic End Tool Alignment through Plane Detection with a RANSAC- Algorithm for Robotic Grasping"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\"><em>by Ludwig Vogt, Robert Ludwig, Johannes Schilp (Germany)<\/em><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Abstract<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Camera based grasping algorithms enable the handling of unknown objects without a complete CAD model. In some scenarios, the captured information from a single view is not sufficient or no grasp is possible. For these cases, the precise realignment of the gripper is difficult because a suitable rotation is part of an infinite solution space. In this paper, we propose a framework which automatically identifies correct rotations from point clouds to adjust the gripper. We validate our approach in a virtual environment for a parallel jaw gripper with multiple isolated and grouped industrial objects.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Keywords<\/strong>: Camera-based Grasping; Grasping simulation; RANSAC-algorithm<\/p>\n\n\n\n<div style=\"height:20px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Video presentation<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"1080\" style=\"aspect-ratio: 1920 \/ 1080;\" width=\"1920\" controls src=\"https:\/\/cirpicme.org\/wp-content\/uploads\/2022\/06\/Ludwig_Vogt.mp4\"><\/video><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Presenting author<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-table is-style-stripes\"><table class=\"has-background\" style=\"background-color:#f3f4f5\"><tbody><tr><td><\/td><td><\/td><td><\/td><\/tr><tr><td><img data-recalc-dims=\"1\" loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"100\" class=\"wp-image-3583\" style=\"width: 150px;\" src=\"https:\/\/i0.wp.com\/cirpicme.org\/wp-content\/uploads\/2022\/07\/Ludwig_Vogt_Photo.jpg?resize=150%2C100&#038;ssl=1\" alt=\"\" srcset=\"https:\/\/i0.wp.com\/cirpicme.org\/wp-content\/uploads\/2022\/07\/Ludwig_Vogt_Photo.jpg?w=1620&amp;ssl=1 1620w, https:\/\/i0.wp.com\/cirpicme.org\/wp-content\/uploads\/2022\/07\/Ludwig_Vogt_Photo.jpg?resize=300%2C200&amp;ssl=1 300w, https:\/\/i0.wp.com\/cirpicme.org\/wp-content\/uploads\/2022\/07\/Ludwig_Vogt_Photo.jpg?resize=1024%2C683&amp;ssl=1 1024w, https:\/\/i0.wp.com\/cirpicme.org\/wp-content\/uploads\/2022\/07\/Ludwig_Vogt_Photo.jpg?resize=768%2C512&amp;ssl=1 768w, https:\/\/i0.wp.com\/cirpicme.org\/wp-content\/uploads\/2022\/07\/Ludwig_Vogt_Photo.jpg?resize=1536%2C1024&amp;ssl=1 1536w, https:\/\/i0.wp.com\/cirpicme.org\/wp-content\/uploads\/2022\/07\/Ludwig_Vogt_Photo.jpg?resize=150%2C100&amp;ssl=1 150w\" sizes=\"auto, (max-width: 150px) 100vw, 150px\" \/><\/td><td><strong>Name:<\/strong><br><br><strong>Affiliation:<\/strong><br><br><strong>Email:<\/strong><\/td><td>Ludwig Vogt<br><br>Augsburg University, Germany<br><br>Ludwig.Vogt@uni-a.de<\/td><\/tr><tr><td><\/td><td><\/td><td><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n","protected":false},"excerpt":{"rendered":"<p>by Ludwig Vogt, Robert Ludwig, Johannes Schilp (Germany) Abstract Camera based grasping algorithms enable the handling of unknown objects without a complete CAD model. In some scenarios, the captured information from a single view is not sufficient or no grasp is possible. For these cases, the precise realignment of the&#8230;<\/p>\n<p> <a class=\"continue-reading-link\" href=\"https:\/\/cirpicme.org\/index.php\/robotics-human-robot-collaboration-2\/automatic-end-tool-alignment-through-plane-detection-with-a-ransac-algorithm-for-robotic-grasping\/\"><span>Continue reading<\/span><i class=\"crycon-right-dir\"><\/i><\/a> <\/p>\n","protected":false},"author":4,"featured_media":0,"parent":3587,"menu_order":0,"comment_status":"open","ping_status":"closed","template":"","meta":{"nf_dc_page":"","om_disable_all_campaigns":false,"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"footnotes":""},"class_list":["post-3444","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/pages\/3444","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/users\/4"}],"replies":[{"embeddable":true,"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/comments?post=3444"}],"version-history":[{"count":3,"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/pages\/3444\/revisions"}],"predecessor-version":[{"id":3798,"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/pages\/3444\/revisions\/3798"}],"up":[{"embeddable":true,"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/pages\/3587"}],"wp:attachment":[{"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/media?parent=3444"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}