Abstract:
The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role....View moreMetadata
Abstract:
The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity when handling objects. Such dexterity seems to derive from a robust understanding of object properties (such as weight, size, and shape), as well as a remarkable capacity to interact with them. Hand postures commonly demonstrate the influence of specific regions on objects that need to be grasped, especially when objects are partially visible. In this work, we leverage human-like object understanding by reconstructing and completing their full geometry from partial observations, and manipulating them using a 7-DoF anthropomorphic robot hand. Our approach has significantly improved the grasping success rates of baselines with only partial reconstruction by nearly 30% and achieved over 150 successful grasps with three different object categories. This demonstrates our approach's consistent ability to predict and execute grasping postures based on the completed object shapes from various directions and positions in real-world scenarios. Our work opens up new possibilities for enhancing robotic applications that require precise grasping and manipulation skills of real-world reconstructed objects.
Published in: IEEE Robotics and Automation Letters ( Volume: 8, Issue: 12, December 2023)
Funding Agency:
TUM School of Computation, Information and Technology (CIT), Chair of Robotics and Systems Intelligence (RSI), Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany
Centre for Tactile Internet with Human-in-the-Loop (CeTI), Dresden, Germany
TUM School of Computation, Information and Technology (CIT), MIRMI, Smart Robotics Lab, Technical University of Munich, Garching, Germany
TUM School of Computation, Information and Technology (CIT), Chair of Robotics and Systems Intelligence (RSI), Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany
TUM School of Computation, Information and Technology (CIT), Chair of Robotics and Systems Intelligence (RSI), Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany
TUM School of Computation, Information and Technology (CIT), Chair of Robotics and Systems Intelligence (RSI), Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany
Division of Neuroscience, Faculty of Biology, LMU Munich, Munich, Germany
TUM School of Computation, Information and Technology (CIT), Chair of Robotics and Systems Intelligence (RSI), Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany
TUM School of Computation, Information and Technology (CIT), MIRMI, Smart Robotics Lab, Technical University of Munich, Garching, Germany
TUM School of Computation, Information and Technology (CIT), Chair of Robotics and Systems Intelligence (RSI), Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany
Centre for Tactile Internet with Human-in-the-Loop (CeTI), Dresden, Germany
TUM School of Computation, Information and Technology (CIT), Chair of Robotics and Systems Intelligence (RSI), Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany
Centre for Tactile Internet with Human-in-the-Loop (CeTI), Dresden, Germany
TUM School of Computation, Information and Technology (CIT), MIRMI, Smart Robotics Lab, Technical University of Munich, Garching, Germany
TUM School of Computation, Information and Technology (CIT), Chair of Robotics and Systems Intelligence (RSI), Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany
TUM School of Computation, Information and Technology (CIT), Chair of Robotics and Systems Intelligence (RSI), Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany
TUM School of Computation, Information and Technology (CIT), Chair of Robotics and Systems Intelligence (RSI), Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany
Division of Neuroscience, Faculty of Biology, LMU Munich, Munich, Germany
TUM School of Computation, Information and Technology (CIT), Chair of Robotics and Systems Intelligence (RSI), Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany
TUM School of Computation, Information and Technology (CIT), MIRMI, Smart Robotics Lab, Technical University of Munich, Garching, Germany
TUM School of Computation, Information and Technology (CIT), Chair of Robotics and Systems Intelligence (RSI), Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany
Centre for Tactile Internet with Human-in-the-Loop (CeTI), Dresden, Germany