A hybrid approach for grasping 3D objects

— The paper presents a novel strategy that learns to associate a grasp to an unknown object/task. A hybrid approach combining empirical and analytical methods is proposed. The empirical step ensures task-compatibility by learning to identify the object graspable part in accordance with humans choice. The analytical step permits contact points generation guaranteeing the grasp stability. The robotic hand kinematics are also taken into account. The corresponding results are illustrated using GraspIt interface [1].

• Type: Conference
• Year: 2009
• Where: IROS
• Authors: Anis Sahbani, Sahar El-Khoury
• Keywords: Empirical, IROS 2009, Robotics, Step Ensures Task-compatibility, Step Permits Contact