Figueiredo, RuiShukla, AshwiniAragao, DuarteMoreno, PlinioBernardino, AlexandreSantos-Victor, JoséBillard, Aude2012-11-152012-11-152012-11-15201210.1109/SII.2012.6426944https://infoscience.epfl.ch/handle/20.500.14299/86889We 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.text::conference output::conference proceedings::conference paper