Reaching and grasping kitchenware objects

Author

Figueiredo, Renato ; Shukla, A. ; Aragao, D. ; Moreno, Pablo ; Bernardino, Alexandre ; Santos-Victor, Jose ; Billard, Aude

Author_Institution

Fac. of Electr. & Comput. Eng., Inst. Super. Tecnico, Lisbon, Portugal

fYear

2012

fDate

16-18 Dec. 2012

Firstpage

865

Lastpage

870

Abstract

We integrate software components that allow efficient and successful grasping of kitchenware objects. The contributed components include: The object pose detector, the gripper reaching motion and the grasp hypothesis selection. The object pose detector of Drost et. al. [10] is improved, considering rotationally symmetric objects. The reaching motion execution combines two independent dynamical systems: The approach direction system and its tangent space [21]. The coupling provides a robust reaching component that copes with several gripper configurations. The grasp hypothesis selection filters the object poses by considering the table orientation.

Keywords

domestic appliances; grippers; industrial manipulators; object detection; object-oriented programming; grasp hypothesis selection; gripper configurations; gripper reaching motion; independent dynamical systems; kitchenware objects; object pose detector; reaching motion execution; software components; tangent space; Computational modeling; Couplings; Detectors; Grasping; Grippers; Heuristic algorithms; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

System Integration (SII), 2012 IEEE/SICE International Symposium on

Conference_Location

Fukuoka

Print_ISBN

978-1-4673-1496-1

Type

conf

DOI

10.1109/SII.2012.6426944

Filename

6426944