A Probabilistic Framework for Task-Oriented Grasp Stability Assessment
Paper in proceeding, 2013

We present a probabilistic framework for grasp modeling and stability assessment. The framework facilitates assessment of grasp success in a goal-oriented way, taking into account both geometric constraints for task affordances and stability requirements specific for a task. We integrate high-level task information introduced by a teacher in a supervised setting with low-level stability requirements acquired through a robot's self-exploration. The conditional relations between tasks and multiple sensory streams (vision, proprioception and tactile) are modeled using Bayesian networks. The generative modeling approach both allows prediction of grasp success, and provides insights into dependencies between variables and features relevant for object grasping.

Stability analysis

Planning

Robot sensing systems

Probabilistic logic

Bayes methods

Grasping

Author

Yasemin Bekiroglu

Royal Institute of Technology (KTH)

Dan Song

Royal Institute of Technology (KTH)

Lu Wang

Royal Institute of Technology (KTH)

Danica Kragic

Royal Institute of Technology (KTH)

Proceedings - IEEE International Conference on Robotics and Automation

10504729 (ISSN)

3040-3047

IEEE International Conference on Robotics and Automation
Karlsruhe, Germany,

Subject Categories

Robotics

Computer Science

More information

Latest update

1/3/2024 9