PASCAL - Pattern Analysis, Statistical Modelling and Computational Learning

Grasping with vision descriptors and motor primitives
Oliver Kroemer, Renaud Detry, Justus Piater and Jan Peters
In: International Conference on Informatics in Control, Automation and Robotics, 15-18 June 2010, Maderia.

Abstract

Grasping is one of the most important abilities needed for future service robots. Given the task of picking up an object from between clutter, traditional robotics approaches would determine a suitable grasping point and then use a movement planner to reach the goal. The planner would require precise and accurate information about the environment and long computation times, both of which may not always be available. Therefore, methods for executing grasps are required, which perform well with information gathered from only standard stereo vision, and make only a few necessary assumptions about the task environment. We propose techniques that reactively modify the robot’s learned motor primitives based on information derived from Early Cognitive Vision descriptors. The proposed techniques employ non-parametric potential fields centered on the Early Cognitive Vision descriptors to allow for curving hand trajectories around objects, and finger motions that adapt to the object’s local geometry. The methods were tested on a real robot and found to allow for easier imitation learning of human movements and give a considerable improvement to the robot’s performance in grasping tasks.

EPrint Type:Conference or Workshop Item (Paper)
Project Keyword:Project Keyword UNSPECIFIED
Subjects:Learning/Statistics & Optimisation
ID Code:8030
Deposited By:Oliver Kroemer
Deposited On:17 March 2011