DocumentCode
2679346
Title
A hybrid approach for grasping 3D objects
Author
Sahbani, Anis ; El-Khoury, Sahar
Author_Institution
ISIR-CNRS, Univ. Pierre et Marie Curie, Paris, France
fYear
2009
fDate
10-15 Oct. 2009
Firstpage
1272
Lastpage
1277
Abstract
The paper presents a novel strategy that learns to associate a grasp to an unknown object/task. A hybrid approach combining empirical and analytical methods is proposed. The empirical step ensures task-compatibility by learning to identify the object graspable part in accordance with humans choice. The analytical step permits contact points generation guaranteeing the grasp stability. The robotic hand kinematics are also taken into account. The corresponding results are illustrated using GraspIt interface.
Keywords
materials handling; robot kinematics; stability; Grasplt interface; analytical method; contact points generation; empirical method; grasp stability; grasping 3D object; object graspable part identification; robotic hand kinematic; task compatibility; Computational complexity; Fingers; Grasping; Helium; Humans; Intelligent robots; Kinematics; Stability analysis; Strategic planning; USA Councils;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location
St. Louis, MO
Print_ISBN
978-1-4244-3803-7
Electronic_ISBN
978-1-4244-3804-4
Type
conf
DOI
10.1109/IROS.2009.5354105
Filename
5354105
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