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Learning and evaluation of the approach vector for automatic grasp generation and planning
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.
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.ORCID iD: 0000-0003-2965-2953
2007 (English)In: Proceedings - IEEE International Conference on Robotics and Automation: Vols 1-10, 2007, 4715-4720 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we address the problem of automatic grasp generation for robotic hands where experience and shape primitives are used in synergy so to provide a basis not only for grasp generation but also for a grasp evaluation process when the exact pose of the object is not available. One of the main challenges in automatic grasping is the choice of the object approach vector, which is dependent both on the object shape and pose as well as the grasp type. Using the proposed method, the approach vector is chosen not only based on the sensory input but also on experience that some approach vectors will provide useful tactile information that finally results in stable grasps. A methodology for developing and evaluating grasp controllers is presented where the focus lies on obtaining stable grasps under imperfect vision. The method is used in a teleoperation or a Programming by Demonstration setting where a human demonstrates to a robot how to grasp an object. The system first recognizes the object and grasp type which can then be used by the robot to perform the same action using a mapped version of the human grasping posture.

Place, publisher, year, edition, pages
2007. 4715-4720 p.
Series
IEEE International Conference on Robotics and Automation, ISSN 1050-4729
National Category
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-39156DOI: 10.1109/ROBOT.2007.364205ISI: 000250915304113Scopus ID: 2-s2.0-36348963700ISBN: 978-1-4244-0601-2 (print)OAI: oai:DiVA.org:kth-39156DiVA: diva2:439633
Conference
2007 IEEE International Conference on Robotics and Automation, ICRA'07; Rome; 10 April 2007 through 14 April 2007
Available from: 2011-09-08 Created: 2011-09-08 Last updated: 2012-01-24Bibliographically 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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Output format
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