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
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;
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
DOI :
10.1109/IROS.2009.5354105
