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Integrated Grasp Planning and Visual Object Localization For a Humanoid Robot with Five-Fingered Hands

IROS, pp.5663-5668, (2006)

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In this paper we present a framework for grasp planning with a humanoid robot arm and a five-fingered hand. The aim is to provide the humanoid robot with the ability of grasping objects that appear in a kitchen environment. Our approach is based on the use of an object model database that contains the description of all the objects that c...更多

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