Knowledge Commons of Institute of Automation,CAS
Learning Realistic and Reasonable Grasps for Anthropomorphic Hand in Cluttered Scenes | |
Duan, Haonan![]() ![]() ![]() ![]() | |
2024-05-17 | |
会议名称 | IEEE International Conference on Robotics and Automation |
会议日期 | 2024-5-13 |
会议地点 | Yokohama, Japan |
摘要 | Grasping is one of the most fundamental skills for humans to interact with objects. However, it remains a challenging problem for anthropomorphic hands, due to the lack of object affordance understanding and high-dimensional grasp planning. In this work, we propose an anthropomorphic hand grasping framework to learn realistic and reasonable grasps in cluttered scenes, which tackles the problem in three items: 1) graspable point segmentation; 2) hand grasp generation and 3) grasp optimization. Specifically, our method generates high-quality hand grasps efficiently without complete object models by learning graspable points, associated grasp configurations from observed point cloud in a parallel manner and optimizing predicted grasps based on hand-object contacts. Simulation experiments show that our model generates physical plausible grasps for the anthropomorphic hand effectively with over 70% success rate. Real-world experiments demonstrate that the model trained in simulation performs satisfactorily in real-world scenarios for unseen objects. |
关键词 | Robotic grasping Anthropomorphic hand Affordance |
学科门类 | 工学::控制科学与工程 |
语种 | 英语 |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 实体人工智能系统(软、硬件) |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/56667 |
专题 | 多模态人工智能系统全国重点实验室_智能机器人系统研究 |
通讯作者 | Wang, Peng |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences, Beijing, China 2.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China 3.Centre for Artificial Intelligence and Robotics, Hong Kong Institutue of Science and Innovation, Chinese Academy of Sciences, Hong Kong, China |
推荐引用方式 GB/T 7714 | Duan, Haonan,Li, Yiming,LI, Daheng,et al. Learning Realistic and Reasonable Grasps for Anthropomorphic Hand in Cluttered Scenes[C],2024. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
ICRA24_0740_FI.pdf(4993KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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