ICRA 2011 Paper Abstract

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Paper WeA111.5

Brook, Peter (University of Washington), Ciocarlie, Matei (Willow Garage), Hsiao, Kaijen (Willow Garage)

Collaborative Grasp Planning with Multiple Object Representations

Scheduled for presentation during the Regular Sessions "Grasping I" (WeA111), Wednesday, May 11, 2011, 09:20−09:35, Room 5F

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 10, 2019

Keywords Grasping, Manipulation Planning, Reactive and Sensor-Based Planning

Abstract

Grasp planning based on perceived sensor data of an object can be performed in different ways, depending on the chosen semantic interpretation of the sensed data. For example, if the object can be recognized and a complete 3D model is available, a different planning tool can be selected compared to the situation in which only the raw sensed data, such as a single point cloud, is available. Instead of choosing between these options, we present a framework that combines them, aiming to find consensus on how the object should be grasped by using the information from each object representation according to their confidence levels. We show that this method is robust to common errors in perception, such as incorrect object recognition, while also taking into account potential grasp execution errors due to imperfect robot calibration. We illustrate this method on the PR2 robot by grasping objects common in human environments.

 

 

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