Abstract
This session had four presentations on a broad range of aspects of manipulation, with the aim to make robots easier to program for manipulation tasks, or to improve their autonomous manipulation skills.
The first paper, “Shape Recognition and Optimal Grasping of Unknown Objects by Soft-Fingered Robotic Hands with Omnidirectional Camera” by Yoshikawa, Koeda, and Fujimoto, uses an omnidirectional camera to make a 3D hull of the object to be grasped, in order to be able to find an optimal grasp. “Optimality” can have many different meanings, and this paper searches for a criterion that is simple enough to be easily interpretable by humans while still being able to plan robust (two-finger) grasps. The presented approach works well in the given context, but it is not yet clear how to extend it to really cluttered environments, to more than two fingers, and to objects with freeform surfaces.
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© 2009 Springer-Verlag Berlin Heidelberg
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Bruyninckx, H. (2009). Session 12: Manipulation. In: Khatib, O., Kumar, V., Pappas, G.J. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 54. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00196-3_61
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DOI: https://doi.org/10.1007/978-3-642-00196-3_61
Publisher Name: Springer, Berlin, Heidelberg
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