Demonstration of the humanoid robot ARMAR III (KIT) grasping objects
according to different tasks.
The following references contain more details about the integrated submodules:
Object Segmentation:
M. Björkman and D. Kragic. Active 3D scene segmentation and detection
of unknown objects. In IEEE International Conference on Robotics and
Automation (ICRA), 2010.
Categorisation:
Walter Wohlkinger and Markus Vincze. Ensemble of Shape Functions for 3D
Object Classification. In IEEE International Conference on Robotics and
Biomimetics (IEEE-ROBIO), 2011
M. Madry, D. Song and D. Kragic. From Object Categories to Grasp
Transfer Using Probabilistic Reasoning. In 2012 IEEE International
Conference on Robotics and Automation (ICRA), 2012
Pose Estimation:
A. Aldoma and M. Vincze, Pose Alignment for 3D Models and Single View
Stereo Point Clouds Based on Stable Planes. In International Conference
on 3D Imaging, Modeling, Processing, Visualization and Transmission,
2011
Grasp Planning and Inference:
D. Song, C. H. Ek, K. Huebner, D. Kragic. Embodiment-Specific
Representation of Robot Grasping using Graphical Models and Latent-Space
Discretization. In IEEE/RSJ International Conference on Intelligent
RObots and Systems (IROS), 2011.
Leon, S. Ulbrich, R. Diankov, G. Puche, M. Przybylski, A. Morales,
T. Asfour, S. Moisio, J. Bohg, J. Kuffner, and R. Dillmann. OpenGRASP:
A Toolkit for Robot Grasping Simulation. Berlin, Heidelberg: Springer
Berlin Heidelberg, 2010.
Grasp Execution on ARMAR III:
T. Asfour, K. Regenstein, P. Azad, J. Schröder, A. Bierbaum,
N. Vahrenkamp and R. Dillmann. ARMAR-III: An Integrated Humanoid
Platform for Sensory-Motor Control. In 6th IEEE/RAS International
Conference on Humanoid Robots (Humanoids), 2006.
N. Vahrenkamp, S. Wieland, P. Azad, D. Gonzalez, T. Asfour, and
R. Dillmann. Visual servoing for humanoid grasping and manipulation
tasks. In 8th IEEE/RAS International Conference on Humanoid Robots
(Humanoids), 2008.