Header logo is ei

Adapting Preshaped Grasping Movements Using Vision Descriptors

2010

Conference Paper

ei


Grasping is one of the most important abilities needed for future service robots. In the task of picking up an object from between clutter, traditional robotics approaches would determine a suitable grasping point and then use a movement planner to reach the goal. The planner would require precise and accurate information about the environment and long computation times, both of which are often not available. Therefore, methods are needed that execute grasps robustly even with imprecise information gathered only from standard stereo vision. We propose techniques that reactively modify the robot‘s learned motor primitives based on non-parametric potential fields centered on the Early Cognitive Vision descriptors. These allow both obstacle avoidance, and the adapting of finger motions to the object‘s local geometry. The methods were tested on a real robot, where they led to improved adaptability and quality of grasping actions.

Author(s): Kroemer, O. and Detry, R. and Piater, J. and Peters, J.
Book Title: From Animals to Animats 11
Journal: From Animals to Animats 11: Eleventh International Conference on the Simulation of Adaptive Behavior (SAB 2010)
Pages: 156-166
Year: 2010
Month: August
Day: 0
Editors: Doncieux, S. , B. Girard, A. Guillot, J. Hallam, J.-A. Meyer, J.-B. Mouret
Publisher: Springer

Department(s): Empirical Inference
Bibtex Type: Conference Paper (inproceedings)

Address: Berlin, Germany
Digital: 0
DOI: 10.1007/978-3-642-15193-4_15
Event Name: 11th International Conference on Simulation of Adaptive Behavior (SAB 2010)
Event Place: Paris, France
ISBN: 978-3-642-15193-4
Language: en
Organization: Max-Planck-Gesellschaft
School: Biologische Kybernetik

Links: PDF
Web

BibTex

@inproceedings{6437,
  title = {Adapting Preshaped Grasping Movements Using Vision Descriptors},
  author = {Kroemer, O. and Detry, R. and Piater, J. and Peters, J.},
  journal = {From Animals to Animats 11: Eleventh International Conference on the Simulation of Adaptive Behavior (SAB 2010)},
  booktitle = {From Animals to Animats 11},
  pages = {156-166},
  editors = {Doncieux, S. , B. Girard, A. Guillot, J. Hallam, J.-A. Meyer, J.-B. Mouret},
  publisher = {Springer},
  organization = {Max-Planck-Gesellschaft},
  school = {Biologische Kybernetik},
  address = {Berlin, Germany},
  month = aug,
  year = {2010},
  month_numeric = {8}
}