A 3D shape segmentation approach for robot grasping by parts

@article{Aleotti2012A3S,
  title={A 3D shape segmentation approach for robot grasping by parts},
  author={Jacopo Aleotti and Stefano Caselli},
  journal={Robotics and Autonomous Systems},
  year={2012},
  volume={60},
  pages={358-366}
}
Neuro-psychological findings have shown that human perception of objects is based on part decomposition. Most objects are made of multiple parts which are likely to be the entities actually involved in grasp affordances. Therefore, automatic object recognition and robot grasping should take advantage from 3D shape segmentation. This paper presents an approach toward planning robot grasps across similar objects by part correspondence. The novelty of the method lies in the topological… CONTINUE READING
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