Learning of 2D grasping strategies from box-based 3D object approximations
2010 (English)In: Robotics: Science and Systems, MIT Press, 2010, 9-16 p.Conference paper (Refereed)Text
In this paper, we bridge and extend the approaches of 3D shape approximation and 2D grasping strategies. We begin by applying a shape decomposition to an object, i.e. its extracted 3D point data, using a flexible hierarchy of minimum volume bounding boxes. From this representation, we use the projections of points onto each of the valid faces as a basis for finding planar grasps. These grasp hypotheses are evaluated using a set of 2D and 3D heuristic quality measures. Finally on this set of quality measures, we use a neural network to learn good grasps and the relevance of each quality measure for a good grasp. We test and evaluate the algorithm in the GraspIt! simulator.
Place, publisher, year, edition, pages
MIT Press, 2010. 9-16 p.
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-187601ScopusID: 2-s2.0-84959451152ISBN: 9780262514637OAI: oai:DiVA.org:kth-187601DiVA: diva2:933876
International Conference on Robotics Science and Systems, RSS 2009, 28 June 2009 through 1 July 2009
QC 201606072016-06-072016-05-252016-06-07Bibliographically approved