Grasping with Vision Descriptors and Motor Primitives

Kroemer, O; Detry, R; Piater, J; Peters, J

Grasping with Vision Descriptors and Motor Primitives

Kroemer, O., Detry, R., Piater, J., & Peters, J. (2010). Grasping with Vision Descriptors and Motor Primitives. In J., Filipe, J., Andrade-Cetto, & J.-L., Ferrier (Eds.), 7th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2010) (pp. 47-54). Lisboa, Portugal: SciTePress.

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アイテムのパーマリンク: https://hdl.handle.net/11858/00-001M-0000-0013-BF9E-A 版のパーマリンク: https://hdl.handle.net/21.11116/0000-0002-81E2-C

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Kroemer, O^{1, 2}, 著者
Detry, R, 著者
Piater, J, 著者
Peters, J^{1, 2}, 著者

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1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794

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要旨: Grasping is one of the most important abilities needed for future service robots. Given the task of picking up
an object from betweem clutter, traditional robotics approaches would determine a suitable grasping point and
then use a movement planner to reach the goal. The planner would require precise and accurate information
about the environment and long computation times, both of which may not always be available. Therefore,
methods for executing grasps are required, which perform well with information gathered from only standard
stereo vision, and make only a few necessary assumptions about the task environment. We propose techniques
that reactively modify the robots learned motor primitives based on information derived from Early Cognitive
Vision descriptors. The proposed techniques employ non-parametric potential fields centered on the Early
Cognitive Vision descriptors to allow for curving hand trajectories around objects, and finger motions that
adapt to the objects local geometry. The methods were tested on a real robot and found to allow for easier
imitation learning of human movements and give a considerable improvement to the robots performance in
grasping tasks.

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日付: 出版: 2010-06

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識別子（DOI, ISBNなど）: BibTex参照ID: 6436

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出版物名: 7th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2010)

種別: 会議論文集

著者・編者:
Filipe, J, 編集者
Andrade-Cetto, J, 編集者
Ferrier, J-L, 編集者

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出版社, 出版地: Lisboa, Portugal : SciTePress

ページ: - 巻号: - 通巻号: - 開始・終了ページ: 47 - 54 識別子（ISBN, ISSN, DOIなど）: ISBN: 978-989-8425-01-0

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