Task-based Grasp Adaptation on a Humanoid Robot
2012 (English)In: Proceedings 10th IFAC Symposium on Robot Control, 2012, 779-786 p.Conference paper (Refereed)
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.
Robotic Grasping and Manipulation, Task-based Grasp Synthesis, Visual Servoing, Attention, Segmentation, Object categorization, System Integration
IdentifiersURN: urn:nbn:se:kth:diva-111527DOI: 10.3182/20120905-3-HR-2030.00174ScopusID: 2-s2.0-84881015099OAI: oai:DiVA.org:kth-111527DiVA: diva2:586904
10th International IFAC Symposium on Robot Control (SYROCO), 2012
ProjectsEuropean Union project GRASP, IST-FP7-IP-215821
FunderEU, FP7, Seventh Framework Programme, GRASP, IST-FP7-IP-215821
QC 201305232013-01-132013-01-132013-05-23Bibliographically approved