Transferring functional grasps through contact warping and local replanning

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2012, Pages 2963-2970

  Hillenbrand, Ulrich ^a   Roa, Maximo A ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

CONTACT POINTS; RE-PLANNING; SURFACE GEOMETRIES; TARGET OBJECT;

INTELLIGENT SYSTEMS;

EID: 84872294003     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2012.6385989     Document Type: Conference Paper

References (23)

1. C. Borst, M. Fischer, and G. Hirzinger, "A fast and robust grasp planner for arbitrary 3D objects," in ICRA, 1999, pp. 1890-1896.
2. M. Przybylski, T. Asfour, and R. Dillmann, "Unions of balls for shape approximation in robot grasping," in IROS, 2010, pp. 1592-1599.
3. J. Saut and D. Sidobre, "Efficient models for grasp planning with a multi-fingered hand," Robotics and Autonomous Systems, vol. 60, no. 3, pp. 347-357, 2012.
4. P. Shilane, P. Min, M. Kazhdan, and T. Funkhouser, "The Princeton Shape Benchmark," in Proc. Shape Modeling International, 2004, http://shape.cs.princeton.edu/benchmark/.
5. Y. Li, J. L. Fu, and N. S. Pollard, "Data-driven grasp synthesis using shape matching and task-based pruning," IEEE Trans. Visualization and Computer Graphics, vol. 13, pp. 732-747, 2007.
6. C. Goldfeder, M. Ciocarlei, H. Dang, and P. Allen, "The Columbia grasp database," in ICRA, 2009, pp. 1710-1716.
7. P. Brook, M. Ciocarlei, and K. Hsiao, "Collaborative grasp planning with multiple object representations," in ICRA, 2011, pp. 2851-2858.
8. J. Aleotti and S. Caselli, "Part-based robot grasp planning from human demonstration," in ICRA, 2011.
9. D. Song, C. H. Ek, K. Huebner, and D. Kragic, "Embodiment-specific representation of robot grasping using graphical models and latentspace discretization," in IROS, 2011.
10. A. M. Bronstein, M. M. Bronstein, and R. Kimmel, "Generalized multidimensional scaling: a framework for isometry-invariant partial surface matching," Proc. Natl. Acad. Sci., vol. 103, pp. 1168-1172, 2006.
11. H. Li, R. W. Sumner, and M. Pauly, "Global correspondence optimization for non-rigid registration of depth scans," in Proc. Eurograph. Symp. Geometry Processing, 2008.
12. U. Hillenbrand, "Non-parametric 3D shape warping," in Proc. Int. Conf. Pattern Recognition, 2010.
13. H. Ben Amor, O. Kroemer, U. Hillenbrand, G. Neumann, and J. Peters, "Generalization of human grasping for multi-fingered robot hands," in IROS, 2012.
14. U. Hillenbrand and A. Fuchs, "An experimental study of four variants of pose clustering from dense range data," Computer Vision and Image Understanding, vol. 115, pp. 1427-1448, 2011.
15. A. Schrijver, Theory of linear and integer programming. John Wiley & Sons, 1998.
16. R. Vanderbei, Linear programming: foundations and extensions. Springer, 2001.
17. M. A. Roa and R. Suarez, "Computation of independent contact regions for grasping 3-D objects," IEEE Trans. Robotics, vol. 25, pp. 839-850, 2009.
18. R. Murray, Z. Li, and S. Sastry, A mathematical introduction to robotic manipulation. CRC Press, 1994.
19. M. A. Roa and R. Suarez, "Finding locally optimum force-closure grasps," J. Robotics and Computer Integrated Manufacturing, vol. 25, pp. 536-544, 2009.
20. C. Borst, M. Fischer, and G. Hirzinger, "Calculating hand configurations for precision and pinch grasps," in IROS, 2002, pp. 1553-1559.
21. J. Butterfass, M. Grebenstein, H. Liu, and G. Hirzinger, "DLR hand II: next generation of a dextrous robot hand," in ICRA, 2001, pp. 109-114.
22. C. Ferrari and J. Canny, "Planning optimal grasps," in ICRA, 1992, pp. 2290-2295.
23. K. Matheus and A. M. Dollar, "Benchmarking grasping and manipulation: properties of the objects of daily living," in IROS, 2010.