Title :
Estimation of center of mass of the object to be held by barycentric coordinate system and polygon parcelling
Author :
Bozan, Yavuz Selim ; Ozyer, Gulsah Tumuklu ; Ozyer, Baris
Author_Institution :
Bilgisayar Muhendisligi Bolumu, Ataturk Univ., Erzurum, Turkey
Abstract :
Estimation of appropriate contact areas on object is an important problem to determine suitable robot hand shape and contact force to be exerted by the fingers. In this study, a novel method based on barycentric coordinates is proposed for calculating the center of mass of an object to determine the contact points for grasping. Results obtained from barycentric coordinates system are compared against quadrangle/hexagon parcelling algorithms and processing of pixels of the object in image data.
Keywords :
computational geometry; manipulators; robot vision; barycentric coordinate system; barycentric coordinates system; center of mass estimation; contact force; contact points; fingers; grasping; hexagon parcelling algorithms; image data; object contact areas; object pixels processing; polygon parcelling; quadrangle parcelling algorithms; robot hand shape; Conferences; Force; Grasping; Random access memory; Robot kinematics; Shape; barycentric coordinate systems; estimation of object center; object grasping;
Conference_Titel :
Signal Processing and Communications Applications Conference (SIU), 2015 23th
Conference_Location :
Malatya
DOI :
10.1109/SIU.2015.7130291
