Title :
Grasp Planning for Rehabilitation Robot in Manipulate Book
Author_Institution :
Inst. of Autom., Univ. of Bremen, Bremen, Germany
Abstract :
Grasp planning is a crucial problem for a service robot. It affects the quality of the interaction between robot and environment. This paper presents a grasp planning system for the service robot FRIEND3 in manipulate book. The system consists of three parts: generate prehensile points, generate grasp strategies and grasp memory. The prehensile points are generated from the primitives of the object and the environment around the object. The grasp strategy is generated from self reason and memory map. Grasp memory use semantic knowledge to classify different grasp. This approach is tested on the FRIEND3 system when implement the library scenario.
Keywords :
grippers; medical robotics; patient rehabilitation; robot vision; service robots; FRIEND3 service robot; grasp memory; grasp planning system; grasp strategies; memory map; prehensile points; rehabilitation robot; robot environment interaction; semantic knowledge; Force; Grasping; Grippers; Planning; Robots; Sensors; Shape; grasp planning; library scenario; rehabilitation robot;
Conference_Titel :
Robot, Vision and Signal Processing (RVSP), 2011 First International Conference on
Conference_Location :
Kaohsiung
Print_ISBN :
978-1-4577-1881-6
DOI :
10.1109/RVSP.2011.56
