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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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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-BEB2-2 Version Permalink: https://hdl.handle.net/21.11116/0000-0002-80E2-D
Genre: Conference Paper

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https://link.springer.com/content/pdf/10.1007%2F978-3-642-15193-4_15.pdf (Publisher version)
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 Creators:
Kroemer, O1, 2, Author           
Detry, R1, 2, Author           
Piater, J1, 2, Author           
Peters, J1, 2, Author           
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              

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 Abstract: 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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 Dates: 2010-08
 Publication Status: Issued
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1007/978-3-642-15193-4_15
BibTex Citekey: 6437
 Degree: -

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Title: 11th International Conference on Simulation of Adaptive Behavior (SAB 2010)
Place of Event: Paris, France
Start-/End Date: 2010-08-25 - 2010-08-28

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Title: From Animals to Animats 11
Source Genre: Journal
 Creator(s):
Doncieux, S, Editor
Girard, B, Editor
Guillot, A, Editor
Hallam, J, Editor
Meyer, J-A, Editor
Mouret, J-B, Editor
Affiliations:
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Publ. Info: Berlin, Germany : Springer
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 156 - 166 Identifier: ISBN: 978-3-642-15193-4