GRASPING WITH VISION DESCRIPTORS AND MOTOR PRIMITIVES

Oliver Kroemer, Renaud Detry, Justus Piater, Jan Peters

Abstract

Grasping is one of the most important abilities needed for future service robots. Given the task of picking up an object from betweem 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 may not always be available. Therefore, methods for executing grasps are required, which perform well with information gathered from only standard stereo vision, and make only a few necessary assumptions about the task environment. We propose techniques that reactively modify the robot’s learned motor primitives based on information derived from Early Cognitive Vision descriptors. The proposed techniques employ non-parametric potential fields centered on the Early Cognitive Vision descriptors to allow for curving hand trajectories around objects, and finger motions that adapt to the object’s local geometry. The methods were tested on a real robot and found to allow for easier imitation learning of human movements and give a considerable improvement to the robot’s performance in grasping tasks.

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Paper Citation


in Harvard Style

Kroemer O., Detry R., Piater J. and Peters J. (2010). GRASPING WITH VISION DESCRIPTORS AND MOTOR PRIMITIVES . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 47-54. DOI: 10.5220/0002938100470054


in Bibtex Style

@conference{icinco10,
author={Oliver Kroemer and Renaud Detry and Justus Piater and Jan Peters},
title={GRASPING WITH VISION DESCRIPTORS AND MOTOR PRIMITIVES},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={47-54},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002938100470054},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - GRASPING WITH VISION DESCRIPTORS AND MOTOR PRIMITIVES
SN - 978-989-8425-01-0
AU - Kroemer O.
AU - Detry R.
AU - Piater J.
AU - Peters J.
PY - 2010
SP - 47
EP - 54
DO - 10.5220/0002938100470054