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Grasping Known Objects with Humanoid Robots: A Box-Based Approach
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
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2009 (English)In: 2009 International Conference on Advanced Robotics, ICAR 2009, IEEE , 2009, 179-184 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Keyword [en]
3D shape representation, Complete system, Generation techniques, Humanoid robot, Intelligent Services, Anthropomorphic robots, Robotics, Three dimensional
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-30420ISI: 000270815500029Scopus ID: 2-s2.0-70449370189ISBN: 978-1-4244-4855-5 (print)OAI: oai:DiVA.org:kth-30420DiVA: diva2:400803
Conference
14th International Conference on Advanced Robotics, Munich, Germany, JUN 22-26, 2009
Note

QC 20110228

Available from: 2011-02-28 Created: 2011-02-24 Last updated: 2014-10-10Bibliographically approved

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Kragic, Danica

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CiteExportLink to record
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Citation style
  • apa
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  • Other locale
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Output format
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