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—In this paper, we analyze and compare existing human grasp taxonomies and synthesize them into a single new taxon-omy (dubbed " The GRASP Taxonomy " after the GRASP project funded by the European Commission). We consider only static and stable grasps performed by one hand. The goal is to extract the largest set of different grasps that were referenced in(More)
Thinking about intelligent robots involves consideration of how such systems can be enabled to perceive, interpret and act in arbitrary and dynamic environments. While sensor perception and model interpretation focus on the robot's internal representation of the world rather passively, robot grasping capabilities are needed to actively execute tasks, modify(More)
Recent advances in both anthropomorphic robots and bimanual industrial ma-nipulators had led to an increased interest in the specific problems pertaining to dual arm manipulation. For the future, we foresee robots performing human-like tasks in both domestic and industrial settings. It is therefore natural to study specifics of dual arm manipulation in(More)
It has been demonstrated in a number of robotic areas how the use of virtual fixtures improves task performance both in terms of execution time and overall precision, [1]. However, the fixtures are typically inflexible, resulting in a degraded performance in cases of unexpected obstacles or incorrect fixture models. In this paper, we propose the use of(More)
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(More)
Tactile sensing plays an important role in robot grasping and object recognition. In this work, we propose a new descriptor named Spatio-Temporal Hierarchical Matching Pursuit (ST-HMP) that captures properties of a time series of tactile sensor measurements. It is based on the concept of unsupervised hierarchical feature learning realized using sparse(More)
This paper presents a framework for 3D vision based bearing only SLAM using a single camera, an interesting setup for many real applications due to its low cost. The focus in is on the management of the features to achieve real-time performance in extraction, matching and loop detection. For matching image features to map landmarks a modified, rotationally(More)
In this paper, off-the-shelf algorithms f o r force/torque control are used in the context of mobile manipulation (i.e. coordinated motion of a mobile robot base and the a r m mounted o n top of it). In particular, the task of opening a door is studied. To make the solution robust, as f e w assumptions as possible are made. B y using relaxation of forces as(More)
Linking semantic and spatial information has become an important research area in robotics since, for robots interacting with humans and performing tasks in natural environments, it is of foremost importance to be able to reason beyond simple geometrical and spatial levels. In this paper, we consider this problem in a service robot scenario where a mobile(More)
The problem studied in this paper is a mobile robot that autonomously navigates in a domestic environment, builds a map as it moves along and localizes its position in it. In addition, the robot detects predefined objects, estimates their position in the environment and integrates this with the localization module to automatically put the objects in the(More)