[HTML][HTML] Geometric backtracking for combined task and motion planning in robotic systems
Planners for real robotic systems should not only reason about abstract actions, but also
about aspects related to physical execution such as kinematics and geometry. We present …
about aspects related to physical execution such as kinematics and geometry. We present …
Fast template matching and pose estimation in 3D point clouds
Template matching for 3D shapes in point cloud data is an essential prerequisite for a
multitude of applications such as bin picking tasks for known objects, detection and …
multitude of applications such as bin picking tasks for known objects, detection and …
Generalization of human gras** for multi-fingered robot hands
Multi-fingered robot gras** is a challenging problem that is difficult to tackle using hand-
coded programs. In this paper we present an imitation learning approach for learning and …
coded programs. In this paper we present an imitation learning approach for learning and …
Transferring functional grasps through contact war** and local replanning
U Hillenbrand, MA Roa - 2012 IEEE/RSJ International …, 2012 - ieeexplore.ieee.org
We present a method for transferring grasps between objects of the same functional
category. This transfer is intended to preserve the functionality of a grasp constructed for one …
category. This transfer is intended to preserve the functionality of a grasp constructed for one …
MRI-based skeletal hand movement model
G Stillfried, U Hillenbrand, M Settles… - The human hand as an …, 2014 - Springer
The kinematics of the human hand is optimal with respect to force distribution during pinch
as well as power grasp, reducing the tissue strain when exerting forces through opposing …
as well as power grasp, reducing the tissue strain when exerting forces through opposing …
Sequential trajectory re-planning with tactile information gain for dexterous gras** under object-pose uncertainty
Dexterous gras** of objects with uncertain pose is a hard unsolved problem in robotics.
This paper solves this problem using information gain re-planning. First we show how tactile …
This paper solves this problem using information gain re-planning. First we show how tactile …
Agile Justin: An upgraded member of DLR's family of lightweight and torque controlled humanoids
This video presents the recent upgrades of the mobile humanoid Agile Justin, bringing it
closer to an ideal platform for research in autonomous manipulation. Significant upgrades …
closer to an ideal platform for research in autonomous manipulation. Significant upgrades …
Hypothesis-based belief planning for dexterous gras**
C Zito, V Ortenzi, M Adjigble, M Kopicki… - ar** and replanning
T Stouraitis, U Hillenbrand… - 2015 IEEE International …, 2015 - ieeexplore.ieee.org
This paper presents a method to transfer functional grasps among objects of the same
category through contact war** and local replanning. The method transfers implicit …
category through contact war** and local replanning. The method transfers implicit …
[PDF][PDF] Sequential re-planning for dextrous gras** under object-pose uncertainty
This work shows how successive grasp attempts can be re-planned to make use of tactile
information acquired during previous grasp attempts. Our main contributions are to enable …
information acquired during previous grasp attempts. Our main contributions are to enable …