Robotic Grasping of Unknown Objects: A Knowledge-based Approach
نویسندگان
چکیده
منابع مشابه
Robotic 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...
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 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 کاملGrasping Unknown Objects with a Humanoid Robot
This paper combines the authors’ previous work on a self-calibrated, position based visual servoing framework for a humanoid robot, with a robust laser stripe scanner that can capture registered colour/range measurements of arbitrary objects in ambient indoor light. Using stereo measurements for validation, the laser scanner is robust against sensor noise, spurious reflections and cross talk fr...
متن کاملEdge-Based Recognition of Novel Objects for Robotic Grasping
In this paper, we investigate the problem of grasping novel objects in unstructured environments. To address this problem, consideration of the object geometry, reachability and force closure analysis are required. We propose a framework for grasping unknown objects by localizing contact regions on the contours formed by a set of depth edges in a single view 2D depth image. According to the edg...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 1991
ISSN: 0278-3649,1741-3176
DOI: 10.1177/027836499101000402