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3D Grasp Synthesis Based on Object Exploration

Many approaches to robotic grasping have focused on a specific aspect of the problem only, without considering its integrability with other related procedures in order to build a more complex task. The model for grasp synthesis presented in this paper, inspired on human neurophysiology, is built upo...

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Main Authors:	Chinellato, E., Recatala, G., del Pobil, A.P., Mezouar, Y., Martinet, P.
Format:	Conference Proceeding
Language:	English
Subjects:	active perception biologically-inspired robots Biomimetics biomimicking robots/systems Brain modeling Computer science grasping/dexterous manipulation Humans Intelligent robots Neurophysiology Neuroscience Performance analysis robot vision Robot vision systems Scalability
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creator	Chinellato, E. Recatala, G. del Pobil, A.P. Mezouar, Y. Martinet, P.
description	Many approaches to robotic grasping have focused on a specific aspect of the problem only, without considering its integrability with other related procedures in order to build a more complex task. The model for grasp synthesis presented in this paper, inspired on human neurophysiology, is built upon an architecture that allows its scalability and its integration within more complex tasks. The grasp synthesis is designed as integrated with the extraction of a 3D object description, so that the object visual analysis is driven by the needs of the grasp synthesis: visual reconstruction is performed incrementally and selectively on the regions of the object that are considered more interesting for grasping. Our approach, inspired by the efficiency of our visual cortex, allows for an easy integration of additional modules and different grasp synthesis criteria.
doi_str_mv	10.1109/ROBIO.2006.340076
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language	eng
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source	IEEE Electronic Library (IEL) Conference Proceedings
subjects	active perception biologically-inspired robots Biomimetics biomimicking robots/systems Brain modeling Computer science grasping/dexterous manipulation Humans Intelligent robots Neurophysiology Neuroscience Performance analysis robot vision Robot vision systems Scalability
title	3D Grasp Synthesis Based on Object Exploration
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