A hybrid approach for grasping 3D objects
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A new strategy combining empirical and analytical approaches for grasping unknown 3D objects
Robotics and Autonomous Systems
Interactive teaching of task-oriented robot grasps
Robotics and Autonomous Systems
An overview of 3D object grasp synthesis algorithms
Robotics and Autonomous Systems
A 3D shape segmentation approach for robot grasping by parts
Robotics and Autonomous Systems
Graspable parts recognition in man-made 3d shapes
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part II
ACM Transactions on Graphics (TOG)
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The action of grasping an object is very important for a humanoid agent with hand, evolving autonomously in a virtual world. If an agent is given the order "Grasp the object", he has to determine the portion of the object to grasp. In order to determine a grasping position, it is necessary to recognize the form of the 3-dimensional geometry, and detect portions which are suitable for grasp. Assuming that the object is grasped by one hand, we propose two techniques for detecting appropriate portions to be grasped on the surface of an object and for generating the grasping postures. In this paper, our main contributions are as follows: The first is the detection of appropriate portions to be grasped on the surface of an object; The second is the formation of the hand shape to grasp various shaped objects. Using the two proposing methods, grasped positions and the hand shapes for each of them are computed. Moreover, these positions are evaluated by their stabilities using the robotics technique.