Mind the gap - robotic grasping under incomplete observation

We consider the problem of grasp and manipulation planning when the state of the world is only partially observable. Specifically, we address the task of picking up unknown objects from a table top. The proposed approach to object shape prediction aims at closing the knowledge gaps in the robot's understanding of the world. A completed state estimate of the environment can then be provided to a simulator in which stable grasps and collision-free movements are planned.

[1]  Tony DeRose,et al.  Surface reconstruction from unorganized points , 1992, SIGGRAPH.

[2]  Robert B. Fisher,et al.  Amodal volume completion: 3D visual completion , 2005, Comput. Vis. Image Underst..

[3]  Javier Felip,et al.  Robust sensor-based grasp primitive for a three-finger robot hand , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Sebastian Thrun,et al.  Shape from symmetry , 2005, Tenth IEEE International Conference on Computer Vision (ICCV'05) Volume 1.

[5]  P. Newman,et al.  Using Naturally Salient Regions for SLAM with 3 D Laser Data ∗ , 2005 .

[6]  Darius Burschka,et al.  Stochastic Optimization for Rigid Point Set Registration , 2009, ISVC.

[7]  Mario Richtsfeld,et al.  Grasping of Unknown Objects from a Table Top , 2008 .

[8]  Stefan Ulbrich,et al.  OpenGRASP: A Toolkit for Robot Grasping Simulation , 2010, SIMPAR.

[9]  Ales Ude,et al.  The Karlsruhe Humanoid Head , 2008, Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots.

[10]  Oliver Brock,et al.  BiSpace Planning: Concurrent Multi-Space Exploration , 2009 .

[11]  Danica Kragic,et al.  Strategies for multi-modal scene exploration , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[12]  Siddhartha S. Srinivasa,et al.  Randomized path planning for redundant manipulators without inverse kinematics , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.

[13]  P. Allen,et al.  Dexterous Grasping via Eigengrasps : A Low-dimensional Approach to a High-complexity Problem , 2007 .

[14]  Frédéric Truchetet,et al.  Mesh Comparison Using Attribute Deviation Metric , 2004, Int. J. Image Graph..

[15]  James J. Kuffner,et al.  OpenRAVE: A Planning Architecture for Autonomous Robotics , 2008 .

[16]  Danica Kragic,et al.  Scene Representation and Object Grasping Using Active Vision , 2010 .

[17]  Michael M. Kazhdan,et al.  Poisson surface reconstruction , 2006, SGP '06.

[18]  Matei T. Ciocarlie,et al.  Contact-reactive grasping of objects with partial shape information , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[19]  Steven M. LaValle,et al.  RRT-connect: An efficient approach to single-query path planning , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[20]  Henrik I. Christensen,et al.  Automatic grasp planning using shape primitives , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[21]  Peter K. Allen,et al.  Grasp Planning via Decomposition Trees , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[22]  Leonidas J. Guibas,et al.  Estimating surface normals in noisy point cloud data , 2004, Int. J. Comput. Geom. Appl..