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Robotics
Volume 10
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10.3390/robotics10010004
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Article

Optimal Grasping Pose Synthesis in a Constrained Environment

by
Alessandro Altobelli
*,
Ozan Tokatli
,
Guy Burroughes
and
Robert Skilton
RACE, United Kingdom Atomic Energy Authority, Culham Science Centre, Abingdon OX14 3DB, UK
*
Author to whom correspondence should be addressed.
Robotics 2021, 10(1), 4; https://doi.org/10.3390/robotics10010004
Submission received: 30 November 2020 / Revised: 17 December 2020 / Accepted: 21 December 2020 / Published: 26 December 2020
(This article belongs to the Special Issue Advances in Robots for Hazardous Environments in the UK)
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Abstract

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.
Keywords: glovebox; nuclear robotics; grasping; autonomous system; waste decommissioning glovebox; nuclear robotics; grasping; autonomous system; waste decommissioning

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MDPI and ACS Style

Altobelli, A.; Tokatli, O.; Burroughes, G.; Skilton, R. Optimal Grasping Pose Synthesis in a Constrained Environment. Robotics 2021, 10, 4. https://doi.org/10.3390/robotics10010004

AMA Style

Altobelli A, Tokatli O, Burroughes G, Skilton R. Optimal Grasping Pose Synthesis in a Constrained Environment. Robotics. 2021; 10(1):4. https://doi.org/10.3390/robotics10010004

Chicago/Turabian Style

Altobelli, Alessandro, Ozan Tokatli, Guy Burroughes, and Robert Skilton. 2021. "Optimal Grasping Pose Synthesis in a Constrained Environment" Robotics 10, no. 1: 4. https://doi.org/10.3390/robotics10010004

APA Style

Altobelli, A., Tokatli, O., Burroughes, G., & Skilton, R. (2021). Optimal Grasping Pose Synthesis in a Constrained Environment. Robotics, 10(1), 4. https://doi.org/10.3390/robotics10010004

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