Representation of Pre-Grasp Strategies for Object Manipulation
Conference Paper, Proceedings of IEEE-RAS 10th International Conference on Humanoid Robots (Humanoids '10), pp. 617 - 624, December, 2010
Abstract
In this paper, we present a method for representing and re-targeting manipulations for object adjustment before final grasping. Such pre-grasp manipulation actions bring objects into better configurations for grasping through e.g. object rotation or object sliding. For this purpose, we propose a scaling-invariant and rotation-invariant representation of the hand poses, which is then automatically adapted to the target object to perform the selected pre-grasp manipulations. We show that pre-grasp strategies such as sliding manipulations not only enable more robust object grasping, but also significantly increase the success rate for grasping.
Notes
Copyright 2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Copyright 2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
BibTeX
@conference{Kappler-2010-10579,author = {Daniel Kappler and Lillian Y. Chang and Markus Przybylski and Nancy Pollard and Tamim Asfour and Rudiger Dillmann},
title = {Representation of Pre-Grasp Strategies for Object Manipulation},
booktitle = {Proceedings of IEEE-RAS 10th International Conference on Humanoid Robots (Humanoids '10)},
year = {2010},
month = {December},
pages = {617 - 624},
}
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