Name
Abstract | ||
|---|---|---|
In this work we introduce a novel approach for robot grasp planning. The proposed method combines the benefits of programming by human demonstration for teaching appropriate grasps with those of automatic 3D shape segmentation for object recognition and semantic modeling. The work is motivated by important studies on human manipulation suggesting that when an object is perceived for grasping it is first parsed in its constituent parts. Following these findings we present a manipulation planning system capable of grasping objects by their parts which learns new tasks from human demonstration. The central advantage over previous approaches is the use of a topological method for shape segmentation enabling both object retrieval and part-based grasp planning according to the affordances of an object. Manipulation tasks are demonstrated in a virtual reality environment using a data glove. After the learning phase, each task is planned and executed in a robot environment that is able to generalize to similar, but previously unknown, objects. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/ICRA.2011.5979632 | ICRA |
Keywords | Field | DocType |
data gloves,image retrieval,image segmentation,learning (artificial intelligence),manipulators,object recognition,planning (artificial intelligence),solid modelling,task analysis,topology,virtual reality,appropriate grasps teaching,automatic 3D shape segmentation,data glove,grasping objects,human demonstration,human manipulation,learning phase,manipulation planning system,manipulation tasks,object recognition,object retrieval,part-based grasp planning,part-based robot grasp planning,robot environment,semantic modeling,topological method,virtual reality environment | Virtual reality,Wired glove,Task analysis,Computer science,Segmentation,Image retrieval,Image segmentation,Artificial intelligence,Robot,Cognitive neuroscience of visual object recognition | Conference |
Volume | Issue | ISSN |
2011 | 1 | 1050-4729 |
Citations | PageRank | References |
10 | 0.55 | 21 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jacopo Aleotti | 1 | 259 | 29.76 |
| Stefano Caselli | 2 | 314 | 36.32 |