کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
413468 | 680517 | 2010 | 11 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
A new strategy combining empirical and analytical approaches for grasping unknown 3D objects
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موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: A new strategy combining empirical and analytical approaches for grasping unknown 3D objects A new strategy combining empirical and analytical approaches for grasping unknown 3D objects](/preview/png/413468.png)
چکیده انگلیسی
This paper proposes a novel strategy for grasping 3D unknown objects in accordance with their corresponding task. We define the handle or the natural grasping component of an object as the part chosen by humans to pick up this object. When humans reach out to grasp an object, it is generally in the aim of accomplishing a task. Thus, the chosen grasp is quite related to the object task. Our approach learns to identify object handles by imitating humans. In this paper, a new sufficient condition for computing force-closure grasps on the obtained handle is also proposed. Several experiments were conducted to test the ability of the algorithm to generalize to new objects. They also show the adaptability of our strategy to the hand kinematics.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 58, Issue 5, 31 May 2010, Pages 497–507
Journal: Robotics and Autonomous Systems - Volume 58, Issue 5, 31 May 2010, Pages 497–507
نویسندگان
S. El-Khoury, A. Sahbani,