Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Early reactive grasping with second order 3D feature relations
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
Show others and affiliations
2008 (English)In: Recent Progress In Robotics: Viable Robotic Service To Human / [ed] Lee, S; Suh, IH; Kim, MS, 2008, Vol. 370, 91-105 p.Conference paper, Published paper (Refereed)
Abstract [en]

One of the main challenges in the field of robotics is to make robots ubiquitous. To intelligently interact with the world, such robots need to understand the environment and situations around them and react appropriately, they need context-awareness. But how to equip robots with capabilities of gathering and interpreting the necessary information for novel tasks through interaction with the environment and by providing some minimal knowledge in advance? This has been a longterm question and one of the main drives in the field of cognitive system development. The main idea behind the work presented in this paper is that the robot should, like a human infant, learn about objects by interacting with them, forming representations of the objects and their categories that are grounded in its embodiment. For this purpose, we study an early learning of object grasping process where the agent, based on a set of innate reflexes and knowledge about its embodiment. We stress out that this is not the work on grasping, it is a system that interacts with the environment based on relations of 3D visual features generated trough a stereo vision system. We show how geometry, appearance and spatial relations between the features can guide early reactive grasping which can later on be used in a more purposive manner when interacting with the environment.

Place, publisher, year, edition, pages
2008. Vol. 370, 91-105 p.
Series
Lecture Notes In Control And Information Sciences, ISSN 0170-8643 ; 370
National Category
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-38429DOI: 10.1007/978-3-540-76729-9_8ISI: 000252925100007Scopus ID: 2-s2.0-36749032283ISBN: 978-3-540-76728-2 (print)OAI: oai:DiVA.org:kth-38429DiVA: diva2:436857
Conference
13th International Conference on Advanced Robotics Location: Jeju Isl, South Korea Date: Aug 22-25, 2007
Available from: 2011-08-25 Created: 2011-08-25 Last updated: 2011-08-25Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Aarno, DanielSommerfeld, JohanKragic, Danica
By organisation
Computer Vision and Active Perception, CVAPCentre for Autonomous Systems, CAS
Computer Science

Search outside of DiVA

GoogleGoogle Scholar

Altmetric score

Total: 382 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf