Towards cognitive grasping: modeling of unknown objects and its corresponding grasp types

Title
Towards cognitive grasping: modeling of unknown objects and its corresponding grasp types
Authors
김형년한인규유범재박지형
Keywords
Robotic grasp; 3D object modeling; Grasp types; Object classification; Human demonstration
Issue Date
2011-07
Publisher
Intelligent Service Robotics
Citation
VOL 4, NO 3, 159-166
Abstract
This paper describes an intuitive approach for a cognitive grasp of a robot. The cognitive grasp means the chain of processes that make a robot to learn and execute a grasping method for unknown objects like a human. In the learning step, a robot looks around a target object to estimate the 3D shape and understands the grasp type for the object through a human demonstration. In the execution step, the robot correlates an unknown object to one of known grasp types by comparing the shape similarity of the target object based on previously learned models. For this cognitive grasp, we mainly deal with two functionalities such as reconstructing an unknown 3D object and classifying the object by grasp types. In the experiment, we evaluate the performance of object classification according to the grasp types for 20 objects via human demonstration.
URI
http://pubs.kist.re.kr/handle/201004/39944
ISSN
1861-2776
Appears in Collections:
KIST Publication > Article
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