Category-based task specific grasping
نویسندگان
چکیده
منابع مشابه
Category-based task specific grasping
Interaction with an object is an important ability of the robot acting in a real environment. Grasping is a critical problem in many manipulation tasks. In many situations it is important not only to perform a stable grasp but also “useful” grasp, which means that the properties of the object and taskspecific constraints should be taken into account. The concept of object category is useful for...
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Robot grasping is a critical and difficult problem in robotics. The problem of simply finding a stable grasp is difficult enough, but to perform a useful grasp, we must also consider other aspects of the task: the object, its properties, and any task-related constraints. The choice of grasping region is highly dependent on the category of object, and the automated prediction of object category ...
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Fig. 1. System outline. First row: Data acquisition using ARMAR III robot head and view of a typical experimental scene. Second row: Segmented objects in the same scene. Third row: Integrated 2D and 3D Object Categorization Systems (OCSs). Fourth row: Generation of grasping points by Bayesian network. Fifth row: Experimental scene with grasping points for categorized objects and desired task (t...
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ژورنال
عنوان ژورنال: Robotics and Autonomous Systems
سال: 2015
ISSN: 0921-8890
DOI: 10.1016/j.robot.2015.04.002