Grasping Known Objects with Humanoid Robots: A Box-Based Approach
2009 (English)In: 2009 International Conference on Advanced Robotics, ICAR 2009, IEEE , 2009, 179-184 p.Conference paper (Refereed)
Autonomous grasping of household objects is one of the major skills that an intelligent service robot necessarily has to provide in order to interact with the environment. In this paper, we propose a grasping strategy for known objects, comprising an off-line, box-based grasp generation technique on 3D shape representations. The complete system is able to robustly detect an object and estimate its pose, flexibly generate grasp hypotheses from the assigned model and perform such hypotheses using visual servoing. We will present experiments implemented on the humanoid platform ARMAR-III.
Place, publisher, year, edition, pages
IEEE , 2009. 179-184 p.
3D shape representation, Complete system, Generation techniques, Humanoid robot, Intelligent Services, Anthropomorphic robots, Robotics, Three dimensional
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-30420ISI: 000270815500029ScopusID: 2-s2.0-70449370189ISBN: 978-1-4244-4855-5OAI: oai:DiVA.org:kth-30420DiVA: diva2:400803
14th International Conference on Advanced Robotics, Munich, Germany, JUN 22-26, 2009
QC 201102282011-02-282011-02-242014-10-10Bibliographically approved