Demonstration of the humanoid robot ARMAR III (KIT) grasping objects
according to different tasks.
The following references contain more details about the integrated submodules:
M. Björkman and D. Kragic. Active 3D scene segmentation and detection of unknown objects. In IEEE International Conference on Robotics and Automation (ICRA), 2010.
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
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.