DECOMPOSITION OF MULTIMODAL DATA FOR AFFORDANCE-BASED IDENTIFICATION OF POTENTIAL GRASPS

Daniel Dornbusch, Robert Haschke, Stefan Menzel, Heiko Wersing

Abstract

In this paper, we apply standard decomposition approaches to the problem of finding local correlations in multi-modal and high- dimensional grasping data, particularly to correlate the local shape of cup-like objects to their associated local grasp configurations. We compare the capability of several decomposition methods to establish these task-relevant, inter-modal correlations and indicate how they can be exploited to find potential contact points and hand postures for novel, though similar, objects.

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Paper Citation


in Harvard Style

Dornbusch D., Haschke R., Menzel S. and Wersing H. (2012). DECOMPOSITION OF MULTIMODAL DATA FOR AFFORDANCE-BASED IDENTIFICATION OF POTENTIAL GRASPS . In Proceedings of the 1st International Conference on Pattern Recognition Applications and Methods - Volume 2: ICPRAM, ISBN 978-989-8425-99-7, pages 585-589. DOI: 10.5220/0003790205850589


in Bibtex Style

@conference{icpram12,
author={Daniel Dornbusch and Robert Haschke and Stefan Menzel and Heiko Wersing},
title={DECOMPOSITION OF MULTIMODAL DATA FOR AFFORDANCE-BASED IDENTIFICATION OF POTENTIAL GRASPS},
booktitle={Proceedings of the 1st International Conference on Pattern Recognition Applications and Methods - Volume 2: ICPRAM,},
year={2012},
pages={585-589},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003790205850589},
isbn={978-989-8425-99-7},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 1st International Conference on Pattern Recognition Applications and Methods - Volume 2: ICPRAM,
TI - DECOMPOSITION OF MULTIMODAL DATA FOR AFFORDANCE-BASED IDENTIFICATION OF POTENTIAL GRASPS
SN - 978-989-8425-99-7
AU - Dornbusch D.
AU - Haschke R.
AU - Menzel S.
AU - Wersing H.
PY - 2012
SP - 585
EP - 589
DO - 10.5220/0003790205850589