Florian T. Pokorny
Assistant Professor, School of Computer Science and Communication, KTH Royal Institute of TechnologyGrasp Moduli Spaces, Gaussian Processes, and Multimodal Sensor Data
In Workshop on Information-based Grasp and Manipulation Planning, Robotics: Science and Systems, 2014
Abstract
We discuss our recent and ongoing work on
deformation-based grasp synthesis and transfer which formulates
a joint space of shapes and grasps - a Grasp Moduli Space
- within which both grasp configurations and object shapes
can be continuously deformed. In this context, we propose the
use of Gaussian Process-based implicit surface representations.
These shape representations complement our previous work
on using spherical harmonics as well as explicit cylindrical
coordinates to model the object shape component of a Grasp
Moduli Space. We provide a preliminary experiment with these
Gaussian Processes showing how shape representations can be
obtained using multimodal visual and haptic information and
discuss how these representations can be continuously deformed
for the purpose of transferring and generalizing known grasps.
Bibtex
@inproceedings{pokorny2014c,
author = {Pokorny, Florian T. and Bekiroglu, Yasemin and Exner, Johannes and Bj\"{o}rkman, M\aarten and Kragic, Danica},
booktitle = {Workshop on Information-based Grasp and Manipulation Planning,
Robotics: Science and Systems},
title = {Grasp Moduli Spaces, Gaussian Processes, and Multimodal Sensor Data},
year = {2014},
address = {Berkeley, USA},
}
Files
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