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  Adapting Preshaped Grasping Movements Using Vision Descriptors

Kroemer, O., Detry, R., Piater, J., & Peters, J. (2010). Adapting Preshaped Grasping Movements Using Vision Descriptors. From Animals to Animats 11, 156-166.

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Datensatz-Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-BEB2-2 Versions-Permalink: https://hdl.handle.net/21.11116/0000-0002-80E2-D
Genre: Konferenzbeitrag

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externe Referenz:
https://link.springer.com/content/pdf/10.1007%2F978-3-642-15193-4_15.pdf (Verlagsversion)
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Urheber

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 Urheber:
Kroemer, O1, 2, Autor           
Detry, R1, 2, Autor           
Piater, J1, 2, Autor           
Peters, J1, 2, Autor           
Affiliations:
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              

Inhalt

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Schlagwörter: -
 Zusammenfassung: Grasping is one of the most important abilities needed for future service robots. In the task of picking up an object from between 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 are often not available. Therefore, methods are needed that execute grasps robustly even with imprecise information gathered only from standard stereo vision. We propose techniques that reactively modify the robotamp;lsquo;s learned motor primitives based on non-parametric potential fields centered on the Early Cognitive Vision descriptors. These allow both obstacle avoidance, and the adapting of finger motions to the objectamp;lsquo;s local geometry. The methods were tested on a real robot, where they led to improved adaptability and quality of grasping actions.

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Sprache(n):
 Datum: 2010-08
 Publikationsstatus: Erschienen
 Seiten: -
 Ort, Verlag, Ausgabe: -
 Inhaltsverzeichnis: -
 Art der Begutachtung: -
 Identifikatoren: DOI: 10.1007/978-3-642-15193-4_15
BibTex Citekey: 6437
 Art des Abschluß: -

Veranstaltung

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Titel: 11th International Conference on Simulation of Adaptive Behavior (SAB 2010)
Veranstaltungsort: Paris, France
Start-/Enddatum: 2010-08-25 - 2010-08-28

Entscheidung

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Projektinformation

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Quelle 1

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Titel: From Animals to Animats 11
Genre der Quelle: Zeitschrift
 Urheber:
Doncieux, S, Herausgeber
Girard, B, Herausgeber
Guillot, A, Herausgeber
Hallam, J, Herausgeber
Meyer, J-A, Herausgeber
Mouret, J-B, Herausgeber
Affiliations:
-
Ort, Verlag, Ausgabe: Berlin, Germany : Springer
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 156 - 166 Identifikator: ISBN: 978-3-642-15193-4