Data-driven grasping

被引：78
|
作者：
Goldfeder, Corey [1 ]
Allen, Peter K. [1 ]
机构：
[1] Columbia Univ, New York, NY 10027 USA
来源：
AUTONOMOUS ROBOTS | 2011年 / 31卷 / 01期
关键词：
Grasping; Robotics; Data-driven;
D O I：
10.1007/s10514-011-9228-1
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper propose a novel framework for a data driven grasp planner that indexes partial sensor data into a database of 3D models with known grasps and transfers grasps from those models to novel objects. We show how to construct such a database and also demonstrate multiple methods for matching into it, aligning the matched models with the known sensor data of the object to be grasped, and selecting an appropriate grasp to use. Our approach is experimentally validated in both simulated trials and trials with robots.
引用
收藏
页码：1 / 20
页数：20
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