Publication

Learning the natural grasping component of an unknown object

2007
Conference Papers

Abstract

A grasp is the beginning of any manipulation task. Therefore, an autonomous robot should be able to grasp objects it sees for the first time. It must hold objects appropriately in order to successfully perform the task. This paper considers the problem of grasping unknown objects in the same manner as humans. Based on the idea that the human brain represents objects as volumetric primitives in order to recognize them, the presented algorithm predicts grasp as a function of the object’s parts assembly. Beginning with a complete 3D model of the object, a segmentation step decomposes it into single parts. Each single part is fitted with a simple geometric model. A learning step is finally needed in order to find the object component that humans choose to grasp it.

Official source

https://infoscience.epfl.ch/entities/publication/9cf8784a-7f90-47ce-aa81-6b55dcd1e227

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2007
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/9cf8784a-7f90-47ce-aa81-6b55dcd1e227

About this result

Related concepts (32)

Autonomous robot

An autonomous robot is a robot that acts without recourse to human control. The first autonomous robots environment were known as Elmer and Elsie, which were constructed in the late 1940s by W. Grey Walter. They were the first robots in history that were programmed to "think" the way biological brains do and meant to have free will. Elmer and Elsie were often labeled as tortoises because of how they were shaped and the manner in which they moved. They were capable of phototaxis which is the movement that occurs in response to light stimulus.

Robot

A robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. A robot can be guided by an external control device, or the control may be embedded within. Robots may be constructed to evoke human form, but most robots are task-performing machines, designed with an emphasis on stark functionality, rather than expressive aesthetics.

Geometric primitive

In vector computer graphics, CAD systems, and geographic information systems, geometric primitive (or prim) is the simplest (i.e. 'atomic' or irreducible) geometric shape that the system can handle (draw, store). Sometimes the subroutines that draw the corresponding objects are called "geometric primitives" as well. The most "primitive" primitives are point and straight line segment, which were all that early vector graphics systems had. In constructive solid geometry, primitives are simple geometric shapes such as a cube, cylinder, sphere, cone, pyramid, torus.

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