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ICRA
2007
IEEE

Learning and Evaluation of the Approach Vector for Automatic Grasp Generation and Planning

10 years 5 months ago
Learning and Evaluation of the Approach Vector for Automatic Grasp Generation and Planning
— In this paper, we address the problem of automatic grasp generation for robotic hands where experience and shape primitives are used in synergy so to provide a basis not only for grasp generation but also for a grasp evaluation process when the exact pose of the object is not available. One of the main challenges in automatic grasping is the choice of the object approach vector, which is dependent both on the object shape and pose as well as the grasp type. Using the proposed method, the approach vector is chosen not only based on the sensory input but also on experience that some approach vectors will provide useful tactile information that finally results in stable grasps. A methodology for developing and evaluating grasp controllers is presented where the focus lies on obtaining stable grasps under imperfect vision. The method is used in a teleoperation or a Programming by Demonstration setting where a human demonstrates to a robot how to grasp an object. The system first reco...
Staffan Ekvall, Danica Kragic
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Staffan Ekvall, Danica Kragic
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