DocumentCode
2007048
Title
Discovery, segmentation and reactive grasping of unknown objects
Author
Schiebener, David ; Schill, John ; Asfour, Tamim
Author_Institution
Inst. for Anthropomatics (IFA), Karlsruhe Inst. of Technol. (KIT), Karlsruhe, Germany
fYear
2012
fDate
Nov. 29 2012-Dec. 1 2012
Firstpage
71
Lastpage
77
Abstract
Learning the visual appearance and physical properties of unknown objects is an important capability for humanoid robots that are supposed to be working in an open environment. We present an approach that enables a robot to discover new, unknown objects, segment them from the background and grasp them. This gives the robot full control over the object and allows its further multimodal exploration.
Keywords
end effectors; grippers; humanoid robots; image segmentation; discovery; humanoid robots; multimodal exploration; open environment; physical property; reactive grasping; segmentation; unknown objects; visual appearance; Cameras; Grasping; Robot sensing systems; Shape; Three-dimensional displays; Visualization;
fLanguage
English
Publisher
ieee
Conference_Titel
Humanoid Robots (Humanoids), 2012 12th IEEE-RAS International Conference on
Conference_Location
Osaka
ISSN
2164-0572
Type
conf
DOI
10.1109/HUMANOIDS.2012.6651501
Filename
6651501
Link To Document