Representation of Pre-Grasp Strategies for Object Manipulation

Daniel Kappler, Lillian Y. Chang, Markus Przybylski, Nancy Pollard, Tamim Asfour, and Rudiger Dillmann
IEEE-RAS International Conference on Humanoid Robots (Humanoids 2010), December, 2010.


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Abstract
In this paper, we present a method for representing and re-targeting manipulations for object adjustment before final grasping. Such pre-grasp manipulation actions bring objects into better configurations for grasping through e.g. object rotation or object sliding. For this purpose, we propose a scaling-invariant and rotation-invariant representation of the hand poses, which is then automatically adapted to the target object to perform the selected pre-grasp manipulations. We show that pre-grasp strategies such as sliding manipulations not only enable more robust object grasping, but also significantly increase the success rate for grasping.

Notes
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Computer Graphics Lab
Number of pages: 8
Note: Copyright 2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

Text Reference
Daniel Kappler, Lillian Y. Chang, Markus Przybylski, Nancy Pollard, Tamim Asfour, and Rudiger Dillmann, "Representation of Pre-Grasp Strategies for Object Manipulation," IEEE-RAS International Conference on Humanoid Robots (Humanoids 2010), December, 2010.

BibTeX Reference
@inproceedings{Kappler_2010_6721,
   author = "Daniel Kappler and Lillian Y. Chang and Markus Przybylski and Nancy Pollard and Tamim Asfour and Rudiger Dillmann",
   title = "Representation of Pre-Grasp Strategies for Object Manipulation",
   booktitle = "IEEE-RAS International Conference on Humanoid Robots (Humanoids 2010)",
   month = "December",
   year = "2010",
   Notes = "Copyright 2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE."
}