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• W2010274050 abstract "We design an example based planning framework to generate semantic grasps, stable grasps that are functionally suitable for specific object manipulation tasks. We propose to use partial object geometry, tactile contacts, and hand kinematic data as proxies to encode semantic constraints, which are task-related constraints. We introduce a semantic affordance map, which relates local geometry to a set of predefined semantic grasps that are appropriate to different tasks. Using this map, the pose of a robotic hand can be estimated so that the hand is adjusted to achieve the ideal approach direction required by a particular task. A grasp planner is then used to generate a set of final grasps which have appropriate stability, tactile contacts, and hand kinematics along this approach direction. We show experiments planning semantic grasps on everyday objects and executing these grasps with a physical robot." @default.
• W2010274050 created "2016-06-24" @default.
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• W2010274050 date "2012-10-01" @default.
• W2010274050 modified "2023-10-09" @default.
• W2010274050 title "Semantic grasping: Planning robotic grasps functionally suitable for an object manipulation task" @default.
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• W2010274050 doi "https://doi.org/10.1109/iros.2012.6385563" @default.
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