Semantic grasping: Planning robotic grasps functionally suitable for an object manipulation task

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2012, Pages 1311-1317

  Dang, Hao ^a   Allen, Peter K ^a  

^a Department of Earth and Environmental Sciences   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AFFORDANCES; EXAMPLE BASED; EXPERIMENTS PLANNING; HAND KINEMATICS; LOCAL GEOMETRY; OBJECT GEOMETRIES; OBJECT MANIPULATION; PHYSICAL ROBOTS; PLANNING FRAMEWORK; PRE-DEFINED SEMANTICS; ROBOTIC GRASP; SEMANTIC CONSTRAINTS;

INTELLIGENT SYSTEMS; KINEMATICS; ROBOTICS; SEMANTICS;

ROBOT PROGRAMMING;

EID: 84872347762     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2012.6385563     Document Type: Conference Paper

References (26)

1. M. T. Ciocarlie and P. K. Allen, "Hand Posture Subspaces for Dexterous Robotic Grasping," The International Journal of Robotics Research, vol. 28, no. 7, pp. 851-867, 2009.
2. A. Saxena, J. Driemeyer, J. Kearns, and A. Y. Ng, "Robotic grasping of novel objects," in Advances in Neural Information Processing Systems 19, pp. 1209-1216, 2007.
3. M. Prats, P. Sanz, and A. del Pobil, "Task-oriented grasping using hand preshapes and task frames," in Robotics and Automation, 2007 IEEE International Conference on, pp. 1794 -1799, april 2007.
4. M. Popovic, D. Kraft, L. Bodenhagen, E. Baseski, N. Pugeault, D. Kragic, T. Asfour, and N. Krüger, "A strategy for grasping unknown objects based on co-planarity and colour information," Robotics and Autonomous Systems, vol. 58, no. 5, pp. 551 - 565, 2010.
5. S. Geidenstam, K. Huebner, D. Banksell, and D. Kragic, "Learning of 2D grasping strategies from box-based 3D object approximations," in Proceedings of Robotics: Science and Systems, June 2009.
6. R. Haschke, J. J. Steil, I. Steuwer, and H. Ritter, "Task-oriented quality measures for dextrous grasping," in Proc. Conference on Computational Intelligence in Robotics and Automation, 2005.
7. A. Sahbani and S. El-Khoury, "A hybrid approach for grasping 3d objects," in IROS, pp. 1272 -1277, 2009.
8. U. Castiello, "The neuroscience of grasping," Nature Reviews Neuroscience, vol. 6, pp. 726-736, September 2005.
9. C. Goldfeder and P. K. Allen, "Data-driven grasping," Auton. Robots, vol. 31, pp. 1-20, July 2011.
10. D. Berenson and S. Srinivasa, "Grasp synthesis in cluttered environments for dexterous hands," in IEEE-RAS International Conference on Humanoid Robots (Humanoids08), December 2008.
11. Z. Li and S. Sastry, "Task oriented optimal grasping by multifingered robot hands," in ICRA, pp. 389-394, 1987.
12. C. Rosales, L. Ros, J. M. Porta, and R. Suarez, "Synthesizing Grasp Configurations with Specified Contact Regions," The International Journal of Robotics Research, July 2010.
13. L. Ying, J. Fu, and N. Pollard, "Data-driven grasp synthesis using shape matching and task-based pruning," Visualization and Computer Graphics, IEEE Transactions on, vol. 13, no. 4, pp. 732 -747, 2007.
14. D. Song, K. Huebner, V. Kyrki, and D. Kragic, "Learning task constraints for robot grasping using graphical models," in IROS, pp. 1579 -1585, 2010.
15. K. Huebner and D. Kragic, "Grasping by parts: Robot grasp generation from 3d box primitives," in International Conference on Cognitive Systems, January 2010.
16. R. Detry, D. Kraft, A. Buch, N. Kruger, and J. Piater, "Refining grasp affordance models by experience," in Robotics and Automation, 2010 IEEE International Conference on, pp. 2287 -2293, may 2010.
17. J. Aleotti and S. Caselli, "Part-based robot grasp planning from human demonstration," in ICRA, pp. 4554 -4560, may 2011.
18. H. Dang and P. Allen, "Robot learning of everyday object manipulations via human demonstration," in IROS, pp. 1284 -1289, oct. 2010.
19. C. Ferrari and J. Canny, "Planning optimal grasps," in ICRA, pp. 2290 -2295 vol.3, May 1992.
20. S. Belongie, J. Malik, and J. Puzicha, "Shape matching and object recognition using shape contexts," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 24, pp. 509-522, 2002.
21. A. T. Miller and P. K. Allen, "Graspit! a versatile simulator for robotic grasping," Robotics & Automation Magazine, IEEE, vol. 11, no. 4, pp. 110-122, 2004.
22. M. Ciocarlie, C. Lackner, and P. Allen, "Soft finger model with adaptive contact geometry for grasping and manipulation tasks," World Haptics Conference, pp. 219-224, 2007.
23. C. Papazov and D. Burschka, "An efficient ransac for 3d object recognition in noisy and occluded scenes," in ACCV, pp. 135-148, 2010.
24. R. Diankov and J. Kuffner, "Openrave: A planning architecture for autonomous robotics," Tech. Rep. CMU-RI-TR-08-34, Robotics Institute, Pittsburgh, PA, July 2008.
25. H. Dang and P. K. Allen, "Tactile experience-based robotic grasping," in Workshop on Advances in Tactile Sensing and Touch based Human- Robot Interaction, HRI, March 2012.
26. L. Y. Chang, G. Zeglin, and N. Pollard, "Preparatory object rotation as a human-inspired grasping strategy," in IEEE-RAS International Conference on Humanoid Robots, pp. 527-534, December 2008.