| 1. |
- Barck-Holst, Carl, et al.
(författare)
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Learning Grasping Affordance Using Probabilistic and Ontological Approaches
- 2009
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Ingår i: 2009 International Conference on Advanced Robotics, ICAR 2009. - : IEEE. - 9781424448555 ; , s. 96-101
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Konferensbidrag (refereegranskat)abstract
- We present two approaches to modeling affordance relations between objects, actions and effects. The first approach we present focuses on a probabilistic approach which uses a voting function to learn which objects afford which types of grasps. We compare the success rate of this approach to a second approach which uses an ontological reasoning engine for learning affordances. Our second approach employs a rule-based system with axioms to reason on grasp selection for a given object.
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| 2. |
- Bohg, Jeannette, et al.
(författare)
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Grasping Familiar Objects using Shape Context
- 2009
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Ingår i: ICAR. - : IEEE. - 9781424448555 ; , s. 50-55
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Konferensbidrag (refereegranskat)abstract
- We present work on vision based robotic grasping. The proposed method relies on extracting and representing the global contour of an object in a monocular image. A suitable grasp is then generated using a learning framework where prototypical grasping points are learned from several examples and then used on novel objects. For representation purposes, we apply the concept of shape context and for learning we use a supervised learning approach in which the classifier is trained with labeled synthetic images. Our results show that a combination of a descriptor based on shape context with a non-linear classification algorithm leads to a stable detection of grasping points for a variety of objects. Furthermore, we will show how our representation supports the inference of a full grasp configuration.
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| 3. |
- Charusta, Krzysztof, 1983-, et al.
(författare)
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Extraction of grasp-related features by human dual-hand object exploration
- 2009
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Ingår i: 2009 International Conference on Advanced Robotics. - Piscataway, NJ : IEEE conference proceedings. - 9781424448555 ; , s. 1-6
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Konferensbidrag (refereegranskat)abstract
- We consider the problem of objects exploration for grasping purposes, specifically in cases where vision based methods are not applicable. A novel dual-hand object exploration method is proposed that takes benefits from a human demonstration to enrich knowledge about an object. The user handles an object freely using both hands, without restricting the object pose. A set of grasp-related features obtained during exploration is demonstrated and utilized to generate grasp oriented bounding boxes that are basis for pre-grasp hypothesis. We believe that such exploration done in a natural and user friendly way creates important link between an operator intention and a robot action.
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| 4. |
- Cirillo, Marcello, 1978-, et al.
(författare)
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Human-aware task planning for mobile robots
- 2009
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Ingår i: Proceedings of the 5th international conference on advanced robotics, ICAR 2009. - New York : IEEE conference proceedings. - 9781424448555 ; , s. 172-178
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Konferensbidrag (refereegranskat)abstract
- Robots that share their workspace with people, like household or service robots, need to take into account the presence of humans when planning their actions. In this paper, we present a framework for human-aware planning that would make the robots capable of performing their tasks without interfering with the user in his every day life. We focus in particular on the core module of the framework, a humanaware planner that generates a sequence of actions for a robot, taking into account the state of the environment and the goals of the robot, together with a set of forecasted possible plans of the human. We describe the planner and its relations to other system components like a plan recognizer, and present a series of experiments performed with a household robot in a small apartment.
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| 5. |
- Hübner, Kai, et al.
(författare)
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Grasping Known Objects with Humanoid Robots : A Box-Based Approach
- 2009
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Ingår i: 2009 International Conference on Advanced Robotics, ICAR 2009. - : IEEE. - 9781424448555 ; , s. 179-184
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Konferensbidrag (refereegranskat)abstract
- Autonomous grasping of household objects is one of the major skills that an intelligent service robot necessarily has to provide in order to interact with the environment. In this paper, we propose a grasping strategy for known objects, comprising an off-line, box-based grasp generation technique on 3D shape representations. The complete system is able to robustly detect an object and estimate its pose, flexibly generate grasp hypotheses from the assigned model and perform such hypotheses using visual servoing. We will present experiments implemented on the humanoid platform ARMAR-III.
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| 6. |
- Mettin, Uwe, 1979-, et al.
(författare)
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Trajectory planning and time-independent motion control for a kinematically redundant hydraulic manipulator
- 2009
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Ingår i: Advanced Robotics, 2009. ICAR 2009. International Conference on. - : IEEE conference proceedings. - 9781424448555 - 9783839600351 ; , s. 1-6
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Konferensbidrag (refereegranskat)abstract
- In this paper we consider the problem of motion planning and control of a kinematically redundant manipulator, which is used on forestry machines for logging. Once a desired path is specified in the 3D world frame, a trajectory can be planned and executed such that all joints are synchronized and constrained to the Cartesian path. We introduce an optimization procedure that takes advantage of the kinematic redundancy so that time-efficient joint and velocity profiles along the path can be obtained. Differential constraints imposed by the manipulator dynamics are accounted for by employing a phase-plane technique for admissible path timings. In hydraulic manipulators, such as considered here, the velocity constraints of the individual joints are particularly restrictive. We suggest a time-independent control scheme for the planned trajectory which is built upon the standard reference tracking controllers. Experimental tests underline the benefits and efficiency of the model-based trajectory planning and show success of the proposed control strategy.
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| 7. |
- Pronobis, Andrzej, et al.
(författare)
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A Framework for Robust Cognitive Spatial Mapping
- 2009
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Ingår i: 2009 International Conference on Advanced Robotics, ICAR 2009. - : IEEE. - 9781424448555 ; , s. 686-693
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Konferensbidrag (refereegranskat)abstract
- Spatial knowledge constitutes a fundamental component of the knowledge base of a cognitive, mobile agent. This paper introduces a rigorously defined framework for building a cognitive spatial map that permits high level reasoning about space along with robust navigation and localization. Our framework builds on the concepts of places and scenes expressed in terms of arbitrary, possibly complex features as well as local spatial relations. The resulting map is topological and discrete, robocentric and specific to the agent's perception. We analyze spatial mapping design mechanics in order to obtain rules for how to define the map components and attempt to prove that if certain design rules are obeyed then certain map properties are guaranteed to be realized. The idea of this paper is to take a step back from existing algorithms and literature and see how a rigorous formal treatment can lead the way towards a powerful spatial representation for localization and navigation. We illustrate the power of our analysis and motivate our cognitive mapping characteristics with some illustrative examples.
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| 8. |
- Romero, Javier, et al.
(författare)
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Modeling and Evaluation of Human-to-Robot Mapping of Grasps
- 2009
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Ingår i: ICAR. - : IEEE. - 9781424448555 ; , s. 228-233
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Konferensbidrag (refereegranskat)abstract
- We study the problem of human to robot grasp mapping as a basic building block of a learning by imitation system. The human hand posture, including both the grasp type and hand orientation, is first classified based on a single image and mapped to a specific robot hand. A metric for the evaluation based on the notion of virtual fingers is proposed. The first part of the experimental evaluation, performed in simulation, shows bow the differences in the embodiment between human and robotic hand affect the grasp strategy. The second part, performed with a robotic system, demonstrates the feasibility of the proposed methodology in realistic applications.
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| 9. |
- Skoglund, Alexander, 1976-, et al.
(författare)
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Programming-by-demonstration of reaching motions for robot grasping
- 2009
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Ingår i: ICAR. - New York : IEEE. - 9781424448555 ; , s. 321-327
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Konferensbidrag (refereegranskat)abstract
- This paper presents a novel approach to skill modeling acquired from human demonstration. The approach is based on fuzzy modeling and is using a planner for generating corresponding robot trajectories. One of the main challenges stems from the morphological differences between human and robot hand/arm structure, which makes direct copying of human motions impossible in the general case. Thus, the planner works in hand state space, which is defined such that it is perception-invariant and valid for both human and robot hand. We show that this representation simplifies task reconstruction and preserves the essential parts of the task as well as the coordination between reaching and grasping motion. We also show how our approach can generalize observed trajectories based on multiple demonstrations and that the robot can match a demonstrated behavoir, despite morphological differences. To validate our approach we use a general-purpose robot manipulator equipped with an anthropomorphic three-fingered robot hand.
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| 10. |
- Stoyanov, Todor, et al.
(författare)
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Maximum likelihood point cloud acquisition from a mobile platform
- 2009
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Ingår i: International conference on advanced robotics, ICAR 2009.. - New York : IEEE conference proceedings. - 9781424448555 ; , s. 1-6
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Konferensbidrag (refereegranskat)abstract
- This paper describes an approach to acquire locally consistent range data scans from a moving sensor platform. Data from a vertically mounted rotating laser scanner and odometry position estimates are fused and used to estimate maximum likelihood point clouds. An estimation algorithm is applied to reduce the accumulated error after a full rotation of the range finder. A configuration consisting of a SICK laser scanner mounted on a rotational actuator is described and used to evaluate the proposed approach. The data sets analyzed suggest a significant improvement in point cloud consistency, even over a short travel distance.
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| 11. |
- Tegin, Johan, et al.
(författare)
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Real life grasping using an under-actuated robot hand : simulation and experiments
- 2009
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Ingår i: ICAR 2009. - New York : IEEE conference proceedings. - 9781424448555 ; , s. 366-373
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Konferensbidrag (refereegranskat)abstract
- We present a system which includes an under-actuated anthropomorphic hand and control algorithms for autonomous grasping of everyday objects. The system comprised a control framework for hybrid force/position control in simulation and reality, a grasp simulator, and an under-actuated robot hand equipped with tactile sensors.We start by presenting the robot hand, the simulation environment and the control framework that enable dynamic simulation of an under-actuated robot hand. We continue by presenting simulation results and also discuss and exemplify the use of simulation in relation to autonomous grasping. Finally, we use the very same controller in real world grasping experiments to validate the simulations and to exemplify system capabilities and limitations.
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