Image-based object recognition and dexterous hand/arm motion planning using RRTs for grasping in cluttered scene.
Yutaka HiranoKen-ichi KitahamaShintaro YoshizawaPublished in: IROS (2005)
Keyphrases
- human hand
- motion planning
- robotic arm
- cluttered scenes
- object recognition
- degrees of freedom
- object class
- shape matching
- manipulation tasks
- computer vision
- robot arm
- path planning
- mobile robot
- humanoid robot
- pose estimation
- object detection
- object categories
- object classes
- partially occluded
- viewpoint
- object manipulation
- multiple objects
- hand gestures
- inverse kinematics
- object segmentation
- multi robot
- image features
- machine learning
- visual servoing
- configuration space
- image matching
- image representation
- collision free
- dynamic environments
- multi modal
- climbing robot
- partial occlusion
- d objects