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Object-specific Grasp Maps for Use in Planning Manipulation Actions

Zacharias, Franziska and Borst, Christoph and Hirzinger, Gerd (2009) Object-specific Grasp Maps for Use in Planning Manipulation Actions. In: German Workshop on Robotics Advances in Robotics Research- Theory, Implementation, Application. Springer Verlag. pp. 203-213.

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Abstract

Humans use learned knowledge to solve reaching tasks and to manipulate objects and tools.We believe that representations of manipulation characteristics of an object and of the reaching capabilities of a robotic arm can speed up low-level planners, like grasp planners. They also enable sophisticated scene analysis and reasoning for high-level planners, like task planners. We present object-specific grasp maps to encapsulate an object’s manipulation characteristics. A grasp planner is shown to use the grasps maps and a representation of the reachable workspace. The exploitation of the provided knowledge focuses the planning on regions of the object that are promising to yield high quality grasps. Speed ups of factor 2-12 are reported.

Document Type:Contribution to a Collection
Title:Object-specific Grasp Maps for Use in Planning Manipulation Actions
Authors:
AuthorsInstitution or Email of Authors
Zacharias, FranziskaFranziska.zacharias@dlr.de
Borst, ChristophChristoph.borst@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:2009
Journal or Publication Title:German Workshop on Robotics
Refereed publication:Yes
DOI:10.1007/978-3-642-01213-6_19
Page Range:pp. 203-213
Editors:
EditorsEmail
Kröger, TorstenUNSPECIFIED
Wahl, FriedrichUNSPECIFIED
Publisher:Springer Verlag
Series Name:Advances in Robotics Research- Theory, Implementation, Application
Status:Published
Keywords:grasp planning, manipulation
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Leistungszentrum Robotik - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Franziska Zacharias
Deposited On:18 Jan 2010 09:28
Last Modified:07 Feb 2013 19:23

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