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.
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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/ | ||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Poster) | ||||||||||||
Title: | Functional power grasps transferred through warping and replanning | ||||||||||||
Authors: |
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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 System Technology | ||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||
DLR - Research theme (Project): | R - On-Orbit Servicing [SY] | ||||||||||||
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 |
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