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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. doi: 10.1109/iros.2012.6385989.

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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 AuthorsAuthor's ORCID iDORCID Put Code
Hillenbrand, UlrichInstitute of Robotics and Mechatronics, German Aerospace Center (DLR)UNSPECIFIEDUNSPECIFIED
Roa, Maximo A.Institute of Robotics and Mechatronics, German Aerospace Center (DLR)UNSPECIFIEDUNSPECIFIED
Date:2012
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI:10.1109/iros.2012.6385989
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 System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
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:24 Jul 2023 09:24

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