منابع مشابه
Grasping Novel Objects
The work explained in this technical report is about evaluating some recent algorithms to grasp unforeseen objects for table clearance tasks. A tabletop object segmentation algorithm is proposed, and two recently published methods to generate grasps are discussed. The report presents practical considerations on how to use the segmentation algorithm and how to perform the tests with the evaluate...
متن کاملGrasping Unknown Objects
This paper describes a complete robotic system which is capable of removing unmodeled objects from a heap, one by one. As it relies on geometric information only, the use of range data is a natural choice. The objects are to be grasped by a two-ngered gripper, thus it is mandatory that the system can see opposite faces on the objects. Two range views from opposite sides are acquired and analyze...
متن کاملGrasping Curved Objects through Rolling
Grasping a curved object free in the plane may be done through rolling a pair of fingers on the object’s boundary. Each finger is equipped with a tactile sensor able to record any instantaneous point contact with the object. Contact kinematics reveal a relationship between the amount of finger rotations and the total curvatures of the boundary segments of the fingers and the object respectively...
متن کاملRobotic Grasping of Novel Objects
We consider the problem of grasping novel objects, specifically ones that are being seen for the first time through vision. We present a learning algorithm that neither requires, nor tries to build, a 3-d model of the object. Instead it predicts, directly as a function of the images, a point at which to grasp the object. Our algorithm is trained via supervised learning, using synthetic images f...
متن کاملRobotic Grasping of Unknown Objects
This work describes the development of a novel vision-based grasping system for unknown objects based on laser range and stereo data. The work presented here is based on 2.5D point clouds, where every object is scanned from the same view point of the laser range and camera position. We tested our grasping point detection algorithm separately on laser range and single stereo images with the goal...
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ژورنال
عنوان ژورنال: The Proceedings of the Annual Convention of the Japanese Psychological Association
سال: 2014
ISSN: 2433-7609
DOI: 10.4992/pacjpa.78.0_1am-1-084