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

被引：1

作者：

Kim, Hyoungnyoun ^{[1
,2
]}

Han, Inkyu ^{[1
,2
]}

You, Bum-Jae ^{[1
]}

Park, Ji-Hyung ^{[1
]}

机构：

[1] Korea Inst Sci & Technol, Interact & Robot Res Ctr, 39-1 Hawolgok Dong, Seoul, South Korea

[2] Univ Sci & Technol, Dept HCI & Robot, Seoul, South Korea

来源：

INTELLIGENT SERVICE ROBOTICS | 2011年 / 4卷 / 03期

关键词：

Robotic grasp; 3D object modeling; Grasp types; Object classification; Human demonstration;

D O I：

10.1007/s11370-011-0088-5

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：159 / 166

页数：8