Representations for cross-task, cross-object grasp Transfer
2014 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, IEEE conference proceedings, 2014, 5699-5704 p.Conference paper (Refereed)
We address The problem of Transferring grasp knowledge across objects and Tasks. This means dealing with Two important issues: 1) The induction of possible Transfers, i.e., whether a given object affords a given Task, and 2) The planning of a grasp That will allow The robot To fulfill The Task. The induction of object affordances is approached by abstracting The sensory input of an object as a set of attributes That The agent can reason about Through similarity and proximity. For grasp execution, we combine a part-based grasp planner with a model of Task constraints. The Task constraint model indicates areas of The object That The robot can grasp To execute The Task. Within These areas, The part-based planner finds a hand placement That is compatible with The object shape. The key contribution is The ability To Transfer Task parameters across objects while The part-based grasp planner allows for Transferring grasp information across Tasks. As a result, The robot is able To synthesize plans for previously unobserved Task/object combinations. We illustrate our approach with experiments conducted on a real robot.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2014. 5699-5704 p.
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-176152DOI: 10.1109/ICRA.2014.6907697ScopusID: 2-s2.0-84929192413OAI: oai:DiVA.org:kth-176152DiVA: diva2:875045
2014 IEEE International Conference on Robotics and Automation, ICRA 2014, 31 May 2014 through 7 June 2014
QC 201511302015-11-302015-11-022015-11-30Bibliographically approved