Grasping known objects with humanoid robots: A box-based approach

Autonomous grasping of household objects is one of the major skills that an intelligent service robot necessarily has to provide in order to interact with the environment. In this paper, we propose a grasping strategy for known objects, comprising an off-line, box-based grasp generation technique on...

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Bibliographic Details
Published in2009 International Conference on Advanced Robotics pp. 1 - 6
Main Authors Huebner, K., Welke, K., Przybylski, M., Vahrenkamp, N., Asfour, T., Kragic, D., Dillmann, R.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2009
Subjects
Home appliances
Humanoid robots
Humans
Intelligent robots
NASA
Object detection
Robustness
Service robots
Shape
Visual servoing
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Summary:Autonomous grasping of household objects is one of the major skills that an intelligent service robot necessarily has to provide in order to interact with the environment. In this paper, we propose a grasping strategy for known objects, comprising an off-line, box-based grasp generation technique on 3D shape representations. The complete system is able to robustly detect an object and estimate its pose, flexibly generate grasp hypotheses from the assigned model and perform such hypotheses using visual servoing. We will present experiments implemented on the humanoid platform ARMAR-III.
ISBN:9781424448555
1424448557