DocumentCode
2800670
Title
Grasp Planning for Rehabilitation Robot in Manipulate Book
Author
Wang, Tianyu
Author_Institution
Inst. of Autom., Univ. of Bremen, Bremen, Germany
fYear
2011
fDate
21-23 Nov. 2011
Firstpage
344
Lastpage
347
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot, Vision and Signal Processing (RVSP), 2011 First International Conference on
Conference_Location
Kaohsiung
Print_ISBN
978-1-4577-1881-6
Type
conf
DOI
10.1109/RVSP.2011.56
Filename
6114595
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