Reaching and grasping kitchenware objects

We integrate software components that allow ef- ficient and successful grasping of kitchenware objects. The contributed components include: The object pose detector, the gripper reaching motion and the grasp hypothesis selection. The object pose detector of Drost et. al. [10] is improved, considering rotationally symmetric objects. The reaching motion execution combines two independent dynamical systems: The approach direction system and its tangent space [21]. The coupling provides a robust reaching component that copes with several gripper configurations. The grasp hypothesis selection filters the object poses by considering the table orientation.


Presented at:
International Symposium on System Integration, Fukuoka, Japan, December 16-18, 2012
Year:
2012
Laboratories:




 Record created 2012-11-15, last modified 2018-09-13

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