loading
Documents

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Oliver Kroemer 1 ; Renaud Detry 2 ; Justus Piater 2 and Jan Peters 1

Affiliations: 1 Max Planck Institute for Biological Cybernetics, Germany ; 2 University of Liege, Belgium

ISBN: 978-989-8425-01-0

Keyword(s): Dynamical Motor Primitives, Early Cognitive Vision Descriptors, Grasping.

Related Ontology Subjects/Areas/Topics: Cybernetics ; Health Engineering and Technology Applications ; Hybrid Learning Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; NeuroSensing and Diagnosis ; Neurotechnology, Electronics and Informatics ; Robotics and Automation

Abstract: Grasping is one of the most important abilities needed for future service robots. Given the task of picking up an object from betweem clutter, traditional robotics approaches would determine a suitable grasping point and then use a movement planner to reach the goal. The planner would require precise and accurate information about the environment and long computation times, both of which may not always be available. Therefore, methods for executing grasps are required, which perform well with information gathered from only standard stereo vision, and make only a few necessary assumptions about the task environment. We propose techniques that reactively modify the robot’s learned motor primitives based on information derived from Early Cognitive Vision descriptors. The proposed techniques employ non-parametric potential fields centered on the Early Cognitive Vision descriptors to allow for curving hand trajectories around objects, and finger motions that adapt to the object’s local ge ometry. The methods were tested on a real robot and found to allow for easier imitation learning of human movements and give a considerable improvement to the robot’s performance in grasping tasks. (More)

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 54.162.239.233

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Kroemer O., Detry R., Piater J. and Peters J. (2010). GRASPING WITH VISION DESCRIPTORS AND MOTOR PRIMITIVES.In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 47-54. DOI: 10.5220/0002938100470054

@conference{icinco10,
author={Oliver Kroemer and Renaud Detry and Justus Piater and Jan Peters},
title={GRASPING WITH VISION DESCRIPTORS AND MOTOR PRIMITIVES},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={47-54},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002938100470054},
isbn={978-989-8425-01-0},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - GRASPING WITH VISION DESCRIPTORS AND MOTOR PRIMITIVES
SN - 978-989-8425-01-0
AU - Kroemer O.
AU - Detry R.
AU - Piater J.
AU - Peters J.
PY - 2010
SP - 47
EP - 54
DO - 10.5220/0002938100470054

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.