从观察中识别抓取任务的抓取抽象层次

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI:10.1109/IROS.1993.583177

S. B. Kang, K. Ikeuchi

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引用次数: 21

摘要

这项工作的重点是从低级手-对象交互数据中识别的抓取的抽象层次。讨论了前人在抓拍分类识别方面所做的工作。提出的抽象层次给出了实例、实现问题和实验结果。与识别抓取任务的其他方面的概念分析有关的问题也被提出。作者报告了该项目的现状和未来的工作。

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A grasp abstraction hierarchy for recognition of grasping tasks from observation

This work focuses on the abstraction hierarchy for a grasp which has been recognized from low-level hand-object interaction data. Previous work done on grasp classification and recognition is discussed. The proposed abstraction hierarchy is presented with illustrations, implementation issues, as well as experimental results. Issues pertaining to the conceptual analysis of the other aspects of recognizing grasping tasks are also presented. The authors report on the current status of the project and future work.

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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

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