Human-guided grasp measures improve grasp robustness on physical robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 2294-2301

  Balasubramanian, Ravi ^a   Xu, Ling ^c   Brook, Peter D ^a   Smith, Joshua R ^b   Matsuoka, Yoky ^a  

^a UNIVERSITY OF WASHINGTON   (United States)

^b INTEL CORPORATION   (United States)

^c CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AUTOMATED ALGORITHMS; GRASP SYNTHESIS; ORTHOGONALITY; PHYSICAL ROBOTS; ROBOTIC GRASPING;

ALGORITHMS; ROBOTS;

ROBOTICS;

EID: 77955787945     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509855     Document Type: Conference Paper

References (32)

1. http://www.barrett.com/robot/index.htm.
2. G. M. Bone and Y. Du. Multi-metric comparison of optimal 2d grasp planning algorithms. In Proc. IEEE Internat. Conf. on Robotics and Automation, 2001.
3. C. Borst, M. Fischer, and G. Hirzinger. A fast and robust grasp planner for arbitrary 3d objects. In Proc. of the Int. Conf. on Robotics and Automation, pages 1890-1896, 1999.
4. J. Butterfass, M. Grebenstein, H. Liu, and G. Hirzinger. DLR-Hand II: next generation of a dextrous robot hand. In Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on, volume 1, pages 109-114 vol.1, 2001.
5. E. Chinellato, A. Morales, R. B. Fisher, and A. P. del Pobil. Visual quality measures for characterizing planar robot grasps. IEEE Trans. Systems, Man, and Cybernet, 35(1):30-41, 2005.
6. M. T. Ciocarlie and P. K. Allen. On-line interactive dexterous grasping. In Proc. of Eurohaptics, 2008.
7. R. Diankov and J. Kuffner. OpenRAVE: A planning architecture for autonomous robotics. Technical Report CMU-RI-TR-08-34, The Robotics Institute, Pittsburgh, PA, July 2008.
8. A. M. Dollar and R. D. Howe. Towards grasping in unstructured environments: Grasper compliance and configuration optimization. Adv. Robotics, 19(5):523-544, 2005.
9. C. Fernández, M. A. Vicente, C. Pérez, O. Reinoso, and R. Aracil. Learning to grasp from examples in telerobotics. In Proc. Conf. on Artificial Intell. and Appl., 2003.
10. C. Ferrari and J. Canny. Planning optimal grasps. In Proceeding of the IEEE International Conference on Robotics and Automation, pages 2290-2295, 1992.
11. C. Goldfeder, M. Ciocarlie, H. Dang, and P. Allen. The columbia grasp database. In Proc. Internat. Conf. Robotics and Automation, pages 1710-1716, 2009. DOI 10.1109/ROBOT.2009.5152709.
12. S. H. Johnson-Frey. Whats so special about human tool use? Neuron, 2003.
13. S. Kakei, D. S. Hoffman, and P. L. Strick. Muscle and movement representations in the primary motor cortex. Science, 285(5436):2136-9, 1999.
14. U. Kartoun, H. Stern, and Y. Edan. Advances in e-engineering and digital enterprise technology-1: Proc. Int. Conf. on e-Engineering and Digital Enterprise Technology, chapter Virtual Reality Telerobotic System. John Wiley and Sons, 2004.
15. D. Kirkpatrick, B. Mishra, and C. K. Yap. Quantitative steinitz's theorums with applications to multifingered grasping. In ACM Symp. on Theory of Computing, pages 341-351, 1990.
16. Z. Li and S. S. Sastry. Task-oriented optimal grasping by multifingered robot hands. IEEE Journal of Robotics and Automation, 4(1), 1988.
17. Y. Liu, G. Starr, J. Wood, and R. Lumia. Spatial grasp synthesis for complex objects using model-based simulation. Industrial Robot: An International Journal, 2005.
18. J. Lloyd, J. Beis, D. Pai, and D. Lowe. Model-based telerobotics with vision. In Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on, volume 2, pages 1297-1304 vol.2, Apr 1997.
19. C. Lovchik and M. Diftler. The robonaut hand: a dexterous robot hand for space. In Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on, volume 2, pages 907-912 vol.2, 1999.
20. A. Miller and P. K. Allen. Graspit!: a versatile simulator for robotic grasping. IEEE Robotics and Automation Magazine, 2004.
21. A. T. Miller and P. K. Allen. Examples of 3D grasp quality computations. In Proceedings IEEE International Conference on Robotics and Automation, pages pp 1240-1246, 1999.
22. B. Mirtich and J. Canny. Easily computable optimum grasps in 2-D and 3-D. In Proc. IEEE Internat. Conf. Robotics and Automation, pages pp739-747, 1994.
23. J. Ponce and B. Faveqon. On computing three- finger force-closure grasps of polygonal objects. IEEE Trans. on Robotics and Automation, 1995.
24. D. Prattichizzo, J. K. S. Jr. and A. Bicchi. Experimental Robotics IV: Lecture Notes in Control and Information Sci., chapter Contact and grasp robustness measures: Analysis and experiments, pages 83-90. Springer Berlin/Heidelberg, 1997. DOI 10.1007/BFb0035191.
25. N. Ratliff, J. A. D. Bagnell, and S. Srinivasa. Imitation learning for locomotion and manipulation. In Proc. IEEE-RAS Internat Conf Humanoid Robotics, 2007.
26. A. Safonova, J. K. Hodgins, and N. S. Pollard. Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces. ACM Trans. Graphics, 2004.
27. A. Saxena, J. Driemeyer, and A. Y. Ng. Robotic grasping of novel objects using vision. Int. J. Robotics Res., 27(2):157-173, 2008. (Pubitemid 351169712)
28. A. Saxena, L. L. S. Wong, and A. Ng. Learning grasp strategies with partial shape information. In Proc. AAAI Conf Artificial Intell., 2008.
29. K. B. Shimoga. Robot grasp synthesis algorithms: A survey. Internat. J Robotics Res, 1996. DOI: 10.1177/027836499601500302.
30. M. Vande Weghe, M. Rogers, M. Weissert, and Y. Matsuoka. The ACT hand: design of the skeletal structure. In Proc. IEEE Internat. Conf. Robotics and Automation, volume 4, pages 3375-3379, 2004.
31. R. Wistort and J. R. Smith. Electric field servoing for robotic manipulation. In Proc. IEEE/RSJ Internat Conf. Intell. Robots and Sys., 2008.
32. D. Wren and R. Fisher. Dextrous hand grasping strategies using preshapes and digit trajectories. In Proc. IEEE Internat. Conf. Sys., Man, and Cybernet., volume 1, pages 910-915 vol.1, Oct 1995.