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Task-based Grasp Adaptation on a Humanoid Robot
Institute for Anthropomatics, Karlsruhe Institute of Technology, Germany. (Humanoids and Intelligence Systems Lab)
Department of Computer Science and Engineering, Universitat Jaume I, Spain. (Robotic Intelligence Laboratory)
Institute for Anthropomatics, Karlsruhe Institute of Technology, Germany. (Humanoids and Intelligence Systems Lab)
Vise andre og tillknytning
2012 (engelsk)Inngår i: Proceedings 10th IFAC Symposium on Robot Control, 2012, s. 779-786Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In this paper, we present an approach towards autonomous grasping of objects according to their category and a given task. Recent advances in the field of object segmentation and categorization as well as task-based grasp inference have been leveraged by integrating them into one pipeline. This allows us to transfer task-specific grasp experience between objects of the same category. The effectiveness of the approach is demonstrated on the humanoid robot ARMAR-IIIa.

sted, utgiver, år, opplag, sider
2012. s. 779-786
Emneord [en]
Robotic Grasping and Manipulation, Task-based Grasp Synthesis, Visual Servoing, Attention, Segmentation, Object categorization, System Integration
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-111527DOI: 10.3182/20120905-3-HR-2030.00174Scopus ID: 2-s2.0-84881015099OAI: oai:DiVA.org:kth-111527DiVA, id: diva2:586904
Konferanse
10th International IFAC Symposium on Robot Control (SYROCO), 2012
Prosjekter
European Union project GRASP, IST-FP7-IP-215821
Forskningsfinansiär
EU, FP7, Seventh Framework Programme, GRASP, IST-FP7-IP-215821
Merknad

QC 20130523

Tilgjengelig fra: 2013-01-13 Laget: 2013-01-13 Sist oppdatert: 2013-05-23bibliografisk kontrollert

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Kragic, Danica

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