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Transferring functional grasps through contact warping and local replanning

Hillenbrand, Ulrich and Roa, Maximo A. (2012) Transferring functional grasps through contact warping and local replanning. IROS 2012, Vilamoura, Portugal.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/78851/
Document Type:Conference or Workshop Item (Speech)
Title:Transferring functional grasps through contact warping and local replanning
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hillenbrand, UlrichInstitute of Robotics and Mechatronics, German Aerospace Center (DLR)UNSPECIFIED
Roa, Maximo A.Institute of Robotics and Mechatronics, German Aerospace Center (DLR)UNSPECIFIED
Date:2012
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:robotic grasping, robotic manipulation, shape analysis
Event Title:IROS 2012
Event Location:Vilamoura, Portugal
Event Type:international Conference
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Hillenbrand, Ulrich
Deposited On:13 Dec 2012 15:55
Last Modified:31 Jul 2019 19:38

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