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. doi: 10.1007/978-3-642-01213-6_19.
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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.
Item URL in elib: | https://elib.dlr.de/62683/ | ||||||||||||||||
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Document Type: | Contribution to a Collection | ||||||||||||||||
Title: | Object-specific Grasp Maps for Use in Planning Manipulation Actions | ||||||||||||||||
Authors: |
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Date: | 2009 | ||||||||||||||||
Journal or Publication Title: | German Workshop on Robotics | ||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||
Open Access: | No | ||||||||||||||||
Gold Open Access: | No | ||||||||||||||||
In SCOPUS: | No | ||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||
DOI: | 10.1007/978-3-642-01213-6_19 | ||||||||||||||||
Page Range: | pp. 203-213 | ||||||||||||||||
Editors: |
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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 (until 2012) > Robotic Systems | ||||||||||||||||
Deposited By: | Zacharias, Franziska | ||||||||||||||||
Deposited On: | 18 Jan 2010 09:28 | ||||||||||||||||
Last Modified: | 07 Feb 2013 19:23 |
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