Experimental prediction of the performance of grasp tasks from visual features

TitleExperimental prediction of the performance of grasp tasks from visual features
Publication TypeConference Paper
Year of Publication2003
AuthorsMorales, A, Chinellato, E, Fagg, AH, del Pobil, AP
Conference NameIntelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Keywordsadaptive behavior, Barrett hand, dexterous manipulators, estimation rule, feature extraction, Geometry, grasp configuration, Grasping, hand kinematics, humanoid robot, Humans, Image reconstruction, Intelligent robots, Kinematics, Laboratories, manipulator kinematics, object image, performance prediction, prediction theory, Reliability, Robot sensing systems, robot vision, Robustness, Service robots, three finger grasps, unmodeled objects, visual features, visually guided grasping

This paper deals with visually guided grasping of unmodeled objects for robots which exhibit an adaptive behavior based on their previous experiences. Nine features are proposed to characterize three-finger grasps. They are computed from the object image and the kinematics of the hand. Real experiments on a humanoid robot with a Barrett hand are carried out to provide experimental data. This data is employed by a classification strategy, based on the k-nearest neighbour estimation rule, to predict the reliability of a grasp configuration in terms of five different performance classes. Prediction results suggest the methodology is adequate.