Abstract
This paper proposes a probabilistic framework for sensor-based grasping employing an entropy-based explorative procedure. The approach allows balancing the gathering of information about the object to manipulate and maximizing grasp stability. In the framework, both object and grasp attributes as well as stability of the grasp and on-line sensory information are represented by probabilistic models. Demonstrations show that the approach is superior to an earlier stability maximization approach.
The research leading to these results has received funding from the European Community’s Seventh Framework Programme under grant agreement N° 215821 and Foundation of Lappeenranta University of Technology.
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Nikandrova, E., Laaksonen, J., Kyrki, V. (2012). Explorative Sensor-Based Grasp Planning. In: Herrmann, G., et al. Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science(), vol 7429. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32527-4_18
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DOI: https://doi.org/10.1007/978-3-642-32527-4_18
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