Hillenbrand, Ulrich und Roa, Maximo A. (2012) Transferring functional grasps through contact warping and local replanning. IROS 2012, 2012-10-07 - 2012-10-12, Vilamoura, Portugal. doi: 10.1109/iros.2012.6385989.
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Kurzfassung
We present a method for transferring grasps between objects of the same functional category. This transfer is intended to preserve the functionality of a grasp constructed for one of the objects, thus enabling the analogous action to be performed on a novel object for which no grasp has been specified. Manipulation knowledge is hence generalized from a single example to a class of objects with a significant amount of shape variability. The transfer is achieved through warping the surface geometry of the source object onto the target object, and along with it the contact points of a grasp. The warped contacts are locally replanned, if necessary, to ensure grasp stability, and a suitable grasp pose is computed. We present extensive results of experiments with a database of four-finger grasps, designed to systematically cover variations on grasping the mugs of the Princeton Shape Benchmark.
elib-URL des Eintrags: | https://elib.dlr.de/78851/ | ||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||
Titel: | Transferring functional grasps through contact warping and local replanning | ||||||||||||
Autoren: |
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Datum: | 2012 | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Ja | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Nein | ||||||||||||
In ISI Web of Science: | Nein | ||||||||||||
DOI: | 10.1109/iros.2012.6385989 | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | robotic grasping, robotic manipulation, shape analysis | ||||||||||||
Veranstaltungstitel: | IROS 2012 | ||||||||||||
Veranstaltungsort: | Vilamoura, Portugal | ||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||
Veranstaltungsbeginn: | 7 Oktober 2012 | ||||||||||||
Veranstaltungsende: | 12 Oktober 2012 | ||||||||||||
Veranstalter : | IEEE/RSJ | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - RMC - Kognitive Intelligenz und Autonomie (alt) | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) | ||||||||||||
Hinterlegt von: | Hillenbrand, Ulrich | ||||||||||||
Hinterlegt am: | 13 Dez 2012 15:55 | ||||||||||||
Letzte Änderung: | 07 Jun 2024 10:38 |
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