Discovery, segmentation and reactive grasping of unknown objects

IEEE-RAS International Conference on Humanoid Robots

Volumn , Issue , 2012, Pages 71-77

  Schiebener, David ^a   Schill, Julian ^a   Asfour, Tamim ^a  

^a KARLSRUHE INSTITUTE OF TECHNOLOGY   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

FULL CONTROL; GRASPING OF UNKNOWN OBJECT; HUMANOID ROBOT; MULTI-MODAL; OPEN ENVIRONMENT; UNKNOWN OBJECTS; VISUAL APPEARANCE;

ANTHROPOMORPHIC ROBOTS;

EID: 84891110559     PISSN: 21640572     EISSN: 21640580     Source Type: Conference Proceeding    
DOI: 10.1109/HUMANOIDS.2012.6651501     Document Type: Conference Paper

References (29)

1. T. Asfour, K. Regenstein, P. Azad, J. Schr̈oder, A. Bierbaum, N. Vahrenkamp, and R. Dillmann, "ARMAR-III: An integrated humanoid platform for sensory-motor control, " in 6th IEEE-RAS Inter- national Conference on Humanoid Robots, 2006.
2. G. Metta and P. Fitzpatrick, "Early integration of vision and manipulation, " Adaptive Behavior, vol. 11, no. 2, 2003.
3. E. S. Kuzmǐc and A. Ude, "Object segmentation and learning through feature grouping and manipulation, " in 10th IEEE-RAS Int. Conf. Humanoid Robots, 2010.
4. D. Schiebener, A. Ude, J. Morimoto, T. Asfour, and R. Dillmann, "Segmentation and learning of unknown objects through physical interaction, " in 11th IEEE-RAS Int. Conf. Humanoid Robots, Bled, Slovenia, 2011.
5. A. Ude, D. Schiebener, N. Sugimoto, and J. Morimoto, "Integrating surface-based hypotheses and manipulation for autonomous segmentation and learning of object representations, " in IEEE Int. Conf. Robotics and Automation, St. Pauls, Minnesota, 2012.
6. J. Kenney, T. Buckley, and O. Brock, "Interactive segmentation for manipulation in unstructured environments, " in IEEE Int. Conf. Robotics and Automation, 2009.
7. W. H. Li and L. Kleeman, "Segmentation and modeling of visually symmetric objects by robot actions, " Int. Journal of Robotics Research, vol. 30, no. 9, 2011.
8. A. Ude, D. Omřcen, and G. Cheng, "Making object learning and recognition an active process, " Int. Journal of Humanoid Robotics, vol. 5, no. 2, 2008.
9. K. Welke, J. Issac, D. Schiebener, T. Asfour, and R. Dillmann, "Autonomous acquisition of visual multi-view object representations for object recognition on a humanoid robot, " in IEEE Int. Conf. Robotics and Automation, Anchorage, Alaska, 2010.
10. M. Krainin, P. Henry, X. Ren, and D. Fox, "Manipulator and object tracking for in-hand 3d object modeling, " Int. Journal of Robotics Research, vol. 30, no. 11, 2011.
11. T. Araki, T. Nakamura, K. Funakoshi, M. Nakano, and N. Iwahashi, "Autonomous acquisition of multimodal information for online object concept formation by robots, " in IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2011.
12. K. Hsiao, P. Nangeroni, M. Huber, A. Saxena, and A. Y. Ng, "Reactive grasping using optical proximity sensors, " in IEEE International Conference on Robotics and Automation, may 2009, pp. 2098 -2105.
13. K. Hsiao, S. Chitta, M. Ciocarlie, and E. Jones, "Contact-reactive grasping of objects with partial shape information, " in IEEE/RSJ International. Conference on Intelligent Robots and Systems, oct. 2010, pp. 1228 -1235.
14. J. Felip and A. Morales, "Robust sensor-based grasp primitive for a three-finger robot hand, " in IEEE/RSJ International Conference on Intelligent Robots and Systems, oct. 2009, pp. 1811 -1816.
15. A. Bicchi and V. Kumar, "Robotic grasping and contact: A review, " in IEEE International Conference on Robotics and Automation, 2000, pp. 707-714.
16. Y. Bekiroglu, J. Laaksonen, J. A. Jørgensen, V. Kyrki, and D. Kragic, "Assessing grasp stability based on learning and haptic data, " IEEE Transactions on Robotics, vol. 27, no. 3, pp. 616 -629, 2011.
17. J. Schill, J. Laaksonen, M. Przybylski, V. Kyrki, T. Asfour, and R. Dillmann, "Learning continuous grasp stability for a humanoid robot hand based on tactile sensing, " in 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, 2012, pp. 1901 - 1906.
18. J. Feldman, "What is a visual object?" Trends in Cognitive Sciences, vol. 7, no. 6, 2003.
19. C. Harris and M. Stephens, "A combined corner and edge detector, " in Alvey Vision Conference, 1988, pp. 147-151.
20. J. Matas, O. Chum, M. Urba, and T. Pajdla, "Robust wide baseline stereo from maximally stable extremal regions, " in Proc. British Machine Vision Conference, 2002.
21. P. Forssen, "Maximally stable colour regions for recognition and matching, " in IEEE Conf. Computer Vision and Pattern Recognition, 2007.
22. R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision. Cambridge University Press, 2004.
23. M. A. Fischler and R. C. Bolles, "Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography, " in Communications of the ACM, vol. 24, 1981.
24. D. Pelleg and A. Moore, "X-means: Extending k-means with efficient estimation of the number of clusters, " in Proc. 17th Int. Conf. Machine Learning, San Francisco, CA, 2000.
25. N. Vahrenkamp, D. Berenson, T. Asfour, J. Kuffner, and R. Dillmann, "Humanoid motion planning for dual-arm manipulation and re-grasping tasks, " in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2009.
26. A. Bierbaum, J. Schill, T. Asfour, and R. Dillmann, "Force position control for a pneumatic anthropomorphic hand, " in IEEE-RAS Inter- national Conference on Humanoid Robots, Paris, France, 2009, pp. 21 - 27.
27. I. Gaiser, S. Schulz, A. Kargov, H. Klosek, A. Bierbaum, C. Pylatiuk, R. Oberle, T. Werner, T. Asfour, G. Bretthauer, and R. Dillmann, "A new anthropomorphic robotic hand, " in IEEE-RAS International Conference on Humanoid Robots, Daejeon, Korea, 2008.
28. Weiss Robotics, "Tactile sensor module, type: DSA 9335, " accessed 7/7/2012. [Online]. Available: http://www.weiss-robotics.de/.
29. C. Bersch, D. Pangercic, S. Osentoski, K. Hausman, Z. Marton, R. Ueda, K. Okada, and M. Beetz, "Segmentation of textured and textureless objects through interactive perception, " in RSS Workshop on Robots in Clutter: Manipulation, Perception and Navigation in Human Environments, 2012.