Human grasp choice and robotic grasp analysis
Dextrous robot hands
On the closure properties of robotic grasping
International Journal of Robotics Research
Active learning for vision-based robot grasping
Machine Learning - Special issue on robot learning
Human prehension and dexterous robot hands
International Journal of Robotics Research
Learning to Recognize and Grasp Objects
Autonomous Robots
ECCV '94 Proceedings of the Third European Conference-Volume II on Computer Vision - Volume II
Fuzzy logic, grasp preshaping for robot hands
ISUMA '95 Proceedings of the 3rd International Symposium on Uncertainty Modelling and Analysis
Multi-modal Scene Reconstruction using Perceptual Grouping Constraints
CVPRW '06 Proceedings of the 2006 Conference on Computer Vision and Pattern Recognition Workshop
Biologically-inspired 3D grasp synthesis based on visual exploration
Autonomous Robots
Learning object-specific grasp affordance densities
DEVLRN '09 Proceedings of the 2009 IEEE 8th International Conference on Development and Learning
A Probabilistic Framework for 3D Visual Object Representation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Learning to grasp unknown objects based on 3D edge information
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
Visual learning of affordance based cues
SAB'06 Proceedings of the 9th international conference on From Animals to Animats: simulation of Adaptive Behavior
Using multi-modal 3D contours and their relations for vision and robotics
Journal of Visual Communication and Image Representation
Temporal accumulation of oriented visual features
Journal of Visual Communication and Image Representation
Learning visual representations for perception-action systems
International Journal of Robotics Research
Iterative learning of grasp adaptation through human corrections
Robotics and Autonomous Systems
BADGr-A toolbox for box-based approximation, decomposition and GRasping
Robotics and Autonomous Systems
Active learning of visual descriptors for grasping using non-parametric smoothed beta distributions
Robotics and Autonomous Systems
Monocular vision based 6D object localization for service robot's intelligent grasping
Computers & Mathematics with Applications
Enabling grasping of unknown objects through a synergistic use of edge and surface information
International Journal of Robotics Research
Design of a flexible tactile sensor for classification of rigid and deformable objects
Robotics and Autonomous Systems
Stable grasping under pose uncertainty using tactile feedback
Autonomous Robots
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In this work, we describe and evaluate a grasping mechanism that does not make use of any specific object prior knowledge. The mechanism makes use of second-order relations between visually extracted multi-modal 3D features provided by an early cognitive vision system. More specifically, the algorithm is based on two relations covering geometric information in terms of a co-planarity constraint as well as appearance based information in terms of co-occurrence of colour properties. We show that our algorithm, although making use of such rather simple constraints, is able to grasp objects with a reasonable success rate in rather complex environments (i.e., cluttered scenes with multiple objects). Moreover, we have embedded the algorithm within a cognitive system that allows for autonomous exploration and learning in different contexts. First, the system is able to perform long action sequences which, although the grasping attempts not being always successful, can recover from mistakes and more importantly, is able to evaluate the success of the grasps autonomously by haptic feedback (i.e., by a force torque sensor at the wrist and proprioceptive information about the distance of the gripper after a gasping attempt). Such labelled data is then used for improving the initially hard-wired algorithm by learning. Moreover, the grasping behaviour has been used in a cognitive system to trigger higher level processes such as object learning and learning of object specific grasping.