Towards cognitive grasping: modeling of unknown objects and its corresponding grasp types |
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Authors: | Hyoungnyoun Kim Inkyu Han Bum-Jae You Ji-Hyung Park |
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Affiliation: | (1) Department of Technology, Orebro University, 70182 Orebro, Sweden |
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Abstract: | This paper describes an intuitive approach for a cognitive grasp of a robot. The cognitive grasp means the chain of processes that make a robot to learn and execute a grasping method for
unknown objects like a human. In the learning step, a robot looks around a target object to estimate the 3D shape and understands
the grasp type for the object through a human demonstration. In the execution step, the robot correlates an unknown object
to one of known grasp types by comparing the shape similarity of the target object based on previously learned models. For
this cognitive grasp, we mainly deal with two functionalities such as reconstructing an unknown 3D object and classifying
the object by grasp types. In the experiment, we evaluate the performance of object classification according to the grasp
types for 20 objects via human demonstration. |
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Keywords: | |
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