Kim, Hyoungnyoun Han, Inkyu You, Bum-Jae Park, Ji-Hyung 2024-01-20T16:34:48Z 2024-01-20T16:34:48Z 2021-09-05 2011-07 1861-2776 https://pubs.kist.re.kr/handle/201004/130205 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. English SPRINGER HEIDELBERG Towards cognitive grasping: modeling of unknown objects and its corresponding grasp types Article 10.1007/s11370-011-0088-5 1 INTELLIGENT SERVICE ROBOTICS, v.4, no.3, pp.159 - 166 INTELLIGENT SERVICE ROBOTICS 4 3 159 166 scopus 000510891900001 2-s2.0-79960103505 Robotics Robotics Article Robotic grasp 3D object modeling Grasp types Object classification Human demonstration