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Presented at: International Symposium on System Integration, Fukuoka, Japan, December 16-18, 2012 Publication date: 2012

We integrate software components that allow ef- ficient and successful grasping of kitchenware objects. The contributed components include: The object pose detector, the gripper reaching motion and the grasp hypothesis selection. The object pose detector of Drost et. al. [10] is improved, considering rotationally symmetric objects. The reaching motion execution combines two independent dynamical systems: The approach direction system and its tangent space [21]. The coupling provides a robust reaching component that copes with several gripper configurations. The grasp hypothesis selection filters the object poses by considering the table orientation.

Reference EPFL-CONF-182328

Author: Figueiredo, Rui; Shukla, Ashwini; Aragao, Duarte; Moreno, Plinio; Bernardino, Alexandre; Santos-Victor, José; Billard, Aude


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