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Task-Based Grasp Adaptation on a Humanoid Robot
In this paper, we present an approach towards autonomous grasping of objects according to their category and a given task. Recent advances in the field of object segmentation and categorization as well as task-based grasp inference have been leveraged by integrating them into one pipeline. This allows us to transfer task-specific grasp experience between objects of the same category. The effectiveness of the approach is demonstrated on the humanoid robot ARMAR-IIIa.
@inproceedings{Bohg2012a, title = {Task-Based Grasp Adaptation on a Humanoid Robot}, booktitle = {10th {IFAC} Symposium on Robot Control, SyRoCo 2012, Dubrovnik, Croatia, September 5-7, 2012.}, abstract = {In this paper, we present an approach towards autonomous grasping of objects according to their category and a given task. Recent advances in the field of object segmentation and categorization as well as task-based grasp inference have been leveraged by integrating them into one pipeline. This allows us to transfer task-specific grasp experience between objects of the same category. The effectiveness of the approach is demonstrated on the humanoid robot ARMAR-IIIa.}, pages = {779--786}, month = sep, year = {2012}, slug = {bohg2012a-d76789cf-9f45-4d3e-a327-ee64eb766c2e}, author = {Bohg, Jeannette and Welke, Kai and Le{\'{o}}n, Beatriz and Do, Martin and Song, Dan and Wohlkinger, Walter and Aldoma, Aitor and Madry, Marianna and Przybylski, Markus and Asfour, Tamim and Marti, Higinio and Kragic, Danica and Morales, Antonio and Vincze, Markus}, month_numeric = {9} }