Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
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)
Show others and affiliations
2012 (English)In: Proceedings 10th IFAC Symposium on Robot Control, 2012, 779-786 p.Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
2012. 779-786 p.
Keyword [en]
Robotic Grasping and Manipulation, Task-based Grasp Synthesis, Visual Servoing, Attention, Segmentation, Object categorization, System Integration
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-111527DOI: 10.3182/20120905-3-HR-2030.00174Scopus ID: 2-s2.0-84881015099OAI: oai:DiVA.org:kth-111527DiVA: diva2:586904
Conference
10th International IFAC Symposium on Robot Control (SYROCO), 2012
Projects
European Union project GRASP, IST-FP7-IP-215821
Funder
EU, FP7, Seventh Framework Programme, GRASP, IST-FP7-IP-215821
Note

QC 20130523

Available from: 2013-01-13 Created: 2013-01-13 Last updated: 2013-05-23Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Authority records BETA

Kragic, Danica

Search in DiVA

By author/editor
Bohg, JeannetteSong, DanMadry, MariannaKragic, Danica
By organisation
Computer Vision and Active Perception, CVAP
Robotics

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 77 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf