The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

This work focuses on the abstraction hierarchy for a grasp which has been recognized from low-level hand-object interaction data. Previous work done on grasp classification and recognition is discussed. The proposed abstraction hierarchy is presented with illustrations, implementation issues, as well as experimental results. Issues pertaining to the conceptual analysis of the other aspects of recognizing grasping tasks are also presented. The authors report on the current status of the project and future work.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference

Sing Bing Kang and Katsushi Ikeuchi, "A Grasp Abstraction Hierarchy for Recognition of Grasping Tasks from Observation," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), July, 1993, pp. 621 - 628.

BibTeX Reference

@inproceedings{Kang_1993_1389,
   author = "Sing Bing Kang and Katsushi Ikeuchi",
   title = "A Grasp Abstraction Hierarchy for Recognition of Grasping Tasks from Observation",
   booktitle = "Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)",
   pages = "621 - 628",
   month = "July",
   year = "1993",
   volume = "1",
}

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