Learning task constraints for robot grasping using graphical models

  title={Learning task constraints for robot grasping using graphical models},
  author={Dan Song and Kai Huebner and Ville Kyrki and Danica Kragic},
  journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
This paper studies the learning of task constraints that allow grasp generation in a goal-directed manner. We show how an object representation and a grasp generated on it can be integrated with the task requirements. The scientific problems tackled are (i) identification and modeling of such task constraints, and (ii) integration between a semantically expressed goal of a task and quantitative constraint functions defined in the continuous object-action domains. We first define constraint… CONTINUE READING
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