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Task-Based Grasp Adaptation on a Humanoid Robot

2012

Conference Paper

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In this paper, we present an approach towards autonomous grasping of objects according to their category and a given task. Recent advances in the field of object segmentation and categorization as well as task-based grasp inference have been leveraged by integrating them into one pipeline. This allows us to transfer task-specific grasp experience between objects of the same category. The effectiveness of the approach is demonstrated on the humanoid robot ARMAR-IIIa.

Author(s): Bohg, Jeannette and Welke, Kai and León, Beatriz and Do, Martin and Song, Dan and Wohlkinger, Walter and Aldoma, Aitor and Madry, Marianna and Przybylski, Markus and Asfour, Tamim and Marti, Higinio and Kragic, Danica and Morales, Antonio and Vincze, Markus
Book Title: 10th IFAC Symposium on Robot Control, SyRoCo 2012, Dubrovnik, Croatia, September 5-7, 2012.
Pages: 779--786
Year: 2012
Month: September

Department(s): Autonomous Motion
Bibtex Type: Conference Paper (inproceedings)
Paper Type: Conference

DOI: 10.3182/20120905-3-HR-2030.00174

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BibTex

@inproceedings{Bohg2012a,
  title = {Task-Based Grasp Adaptation on a Humanoid Robot},
  author = {Bohg, Jeannette and Welke, Kai and Le{\'{o}}n, Beatriz and Do, Martin and Song, Dan and Wohlkinger, Walter and Aldoma, Aitor and Madry, Marianna and Przybylski, Markus and Asfour, Tamim and Marti, Higinio and Kragic, Danica and Morales, Antonio and Vincze, Markus},
  booktitle = {10th {IFAC} Symposium on Robot Control, SyRoCo 2012, Dubrovnik, Croatia, September 5-7, 2012.},
  pages = {779--786},
  month = sep,
  year = {2012},
  month_numeric = {9}
}