elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Functional power grasps transferred through warping and replanning

Stouraitis, Theodoros and Hillenbrand, Ulrich and Roa, Maximo A. (2015) Functional power grasps transferred through warping and replanning. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 4933-4940. ICRA 2015, 26-30 May 2015, Seattle, Washington State, USA.

[img] PDF - Registered users only
2MB

Abstract

This paper presents a method to transfer functional grasps among objects of the same category through contact warping and local replanning. The method transfers implicit knowledge that enables an action on a class of objects for which no explicit grasp or task information has been given in advance. Contact points on the source object are warped based on global and local shape similarities to the target object. These warped contacts are then used to define a hand posture that reaches close to them, while at the same time provides the desired functionality on the object. The approach is tested on different sets of objects with a success rate of 87.5%, and large benefits are shown when compared to a naive technique that only transfers a suitable hand pose to the novel object.

Item URL in elib:https://elib.dlr.de/96708/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Functional power grasps transferred through warping and replanning
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Stouraitis, TheodorosInstitute of Robotics and Mechatronics, German Aerospace Center (DLR)UNSPECIFIED
Hillenbrand, UlrichInstitute of Robotics and Mechatronics, German Aerospace Center (DLR)UNSPECIFIED
Roa, Maximo A.maximo.roa (at) dlr.deUNSPECIFIED
Date:May 2015
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 4933-4940
Status:Published
Keywords:grasping, manipulation, vision
Event Title:ICRA 2015
Event Location:Seattle, Washington State, USA
Event Type:international Conference
Event Dates:26-30 May 2015
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 - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Stouraitis, Theodoros
Deposited On:17 Jun 2015 15:54
Last Modified:09 Feb 2017 19:21

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.