This paper presents a method for one-shot learning of dexterous grasps and grasp
generation for novel objects. A model of each grasp type is learned from a single kinesthetic …

This paper addresses the problem of grasping unknown objects with a humanoid robot.
Conventional approaches fail when the shape, dimension or pose of the objects are …

We present a system for grasping unknown objects, even from piles or cluttered scenes,
given a point cloud. Our method is based on the topography of a given scene and abstracts …

For service robots operating in domestic environments, it is not enough to consider only
control level robustness; it is equally important to consider how image information that …

The paper starts by reviewing the challenges associated to grasp planning, and previous
work on robot grasping. Our review emphasizes the importance of agents that generalize …

As autonomous robots expand into the service domain, new solutions to the challenge of
operating in domestic environments must be developed. Widespread adoption of service …

Robust techniques for object recognition and pose estimation are essential for robotic
manipulation and object grasping. In this paper, a novel approach for object recognition and …

In this article, we present an integrated manipulation framework for a service robot, that
allows to interact with articulated objects at home environments through the coupling of …

Whereas vision and force feedback—either at the wrist or at the joint level—for robotic
manipulation purposes has received considerable attention in the literature, the benefits that …

Robust techniques for object recognition, image segmentation and pose elimination are
essential for robotic manipulation and grasping. We present a novel approach for object …