@InProceedings{AngelValencia2017,
author="Angel Valencia
and Roger Idrovo
and Angel Sappa
and Douglas Plaza
and Daniel Ochoa",
title="A 3D Vision Based Approach for Optimal Grasp of Vacuum Grippers",
booktitle="IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics",
year="2017",
abstract="In general, robot grasping approaches are based on the usage of multi-finger grippers. However, when large size objects need to be manipulated vacuum grippers are preferred, instead of finger based grippers. This paper aims to estimate the best picking place for a two suction cups vacuum gripper,when planar objects with an unknown size and geometry are considered. The approach is based on the estimation of geometric properties of object{\textquoteright}s shape from a partial cloud of points (a single 3D view), in such a way that combine with considerations of a theoretical model to generate an optimal contact pointthat minimizes the vacuum force needed to guarantee a grasp.Experimental results in real scenarios are presented to show the validity of the proposed approach.",
optnote="ADAS; 600.086; 600.118",
optnote="exported from refbase (http://refbase.cvc.uab.es/show.php?record=2917), last updated on Thu, 04 Apr 2019 12:34:31 +0200",
file=":http://refbase.cvc.uab.es/files/VIS2017.pdf:PDF"
}