Biologically-Inspired 3D Grasp Synthesis Based on Visual Exploration
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Otros documentos de la autoría: Recatalá Ballester, Gabriel; Chinellato, Eris; del Pobil, Angel P.; Mezouar, Youcef; Martinet, Philippe
Metadatos
Mostrar el registro completo del ítemcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7036
comunitat-uji-handle3:10234/8620
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Título
Biologically-Inspired 3D Grasp Synthesis Based on Visual ExplorationAutoría
Fecha de publicación
2008Editor
Springer VerlagISSN
09295593Tipo de documento
info:eu-repo/semantics/articlePalabras clave / Materias
Resumen
Object grasping is a typical human ability which
is widely studied from both a biological and an engineering
point of view. This paper presents an approach to grasp
synthesis inspired by the human neurophysiology ... [+]
Object grasping is a typical human ability which
is widely studied from both a biological and an engineering
point of view. This paper presents an approach to grasp
synthesis inspired by the human neurophysiology of actionoriented
vision. Our grasp synthesis method is built upon
an architecture which, taking into account the differences
between robotic and biological systems, proposes an adaptation
of brain models to the peculiarities of robotic setups.
The architecture modularity allows for scalability and integration
of complex robotic tasks. The grasp synthesis is designed
as integrated with the extraction of a 3D object description,
so that the object visual analysis is actively driven
by the needs of the grasp synthesis: visual reconstruction is
performed incrementally and selectively on the regions of
the object that are considered more interesting for grasping [-]
Derechos de acceso
The original publication is available at www.springerlink.com
http://rightsstatements.org/vocab/InC/1.0/
info:eu-repo/semantics/openAccess
http://rightsstatements.org/vocab/InC/1.0/
info:eu-repo/semantics/openAccess
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