Category-based task specific grasping

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Journal Title
Journal ISSN
Volume Title
A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä
Date
2015-08-01
Major/Subject
Mcode
Degree programme
Language
en
Pages
11
25-35
Series
ROBOTICS AND AUTONOMOUS SYSTEMS, Volume 70, issue 0
Abstract
The problem of finding stable grasps has been widely studied in robotics. However, in many applications the resulting grasps should not only be stable but also applicable for a particular task. Task-specific grasps are closely linked to object categories so that objects in a same category can be often used to perform the same task. This paper presents a probabilistic approach for task-specific stable grasping of objects with shape variations inside the category. An optimal grasp is found as a grasp that is maximally likely to be task compatible and stable taking into account shape uncertainty in a probabilistic context. The method requires only partial models of new objects for grasp generation and only few models and example grasps are used during the training stage. The experiments show that the approach can use multiple models to generalize to new objects in that it outperforms grasping based on the closest model. The method is shown to generate stable grasps for new objects belonging to the same class as well as for similar in shape objects of different categories.
Description
Keywords
Category-based grasping, Probabilistic grasping, Shape uncertainty, Task-specific grasping
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Citation
Nikandrova , E & Kyrki , V 2015 , ' Category-based task specific grasping ' , Robotics and Autonomous Systems , vol. 70 , no. 0 , pp. 25-35 . https://doi.org/10.1016/j.robot.2015.04.002