Mind the Gap - Robotic Grasping under Incomplete Observation
2011 (English)In: 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, May 9-13, 2011, New York: IEEE , 2011, 686-693 p.Conference paper (Refereed)
We consider the problem of grasp and manipulation planning when the state of the world is only partially observable. Specifically, we address the task of picking up unknown objects from a table top. The proposed approach to object shape prediction aims at closing the knowledge gaps in the robot's understanding of the world. A completed state estimate of the environment can then be provided to a simulator in which stable grasps and collision-free movements are planned. The proposed approach is based on the observation that many objects commonly in use in a service robotic scenario possess symmetries. We search for the optimal parameters of these symmetries given visibility constraints. Once found, the point cloud is completed and a surface mesh reconstructed. Quantitative experiments show that the predictions are valid approximations of the real object shape. By demonstrating the approach on two very different robotic platforms its generality is emphasized.
Place, publisher, year, edition, pages
New York: IEEE , 2011. 686-693 p.
, IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
Robotics, Grasp Planning, Computer Vision
IdentifiersURN: urn:nbn:se:kth:diva-38600DOI: 10.1109/ICRA.2011.5980354ISI: 000295396600108ScopusID: 2-s2.0-84864481762ISBN: 978-1-61284-386-5OAI: oai:DiVA.org:kth-38600DiVA: diva2:437502
IEEE International Conference on Robotics and Automation (ICRA) Location: Shanghai, PEOPLES R CHINA Date: MAY 09-13, 2011
FunderEU, FP7, Seventh Framework Programme, IST-FP7- IP-215821ICT - The Next Generation
QC 201112122011-09-072011-08-292011-12-12Bibliographically approved