On computing task-oriented grasps

S El-Khoury, R De Souza, A Billard - Robotics and Autonomous Systems, 2015 - Elsevier
… demonstration in the formulation of grasp synthesis, modify our objective function to a task-oriented
quality measure and generate task compatible grasps. The algorithm was tested on a …

Task-oriented optimal grasping by multifingered robot hands

Z Li, SS Sastry - IEEE Journal on Robotics and Automation, 1988 - ieeexplore.ieee.org
… said to be task oriented, and the development of a task oriented quality measure is our aim
in this section. The development starts with a procedure to properly model the task and the …

Interactive teaching of task-oriented robot grasps

J Aleotti, S Caselli - Robotics and Autonomous Systems, 2010 - Elsevier
… , while Section 4 describes the proposed task-oriented grasp quality measure. Section 5
reports … for computing the task-oriented grasp quality measure and the approach for local grasp

Same object, different grasps: Data and semantic knowledge for task-oriented grasping

A Murali, W Liu, K Marino… - Conference on robot …, 2021 - proceedings.mlr.press
grasps for task-oriented grasping given the object point cloud and task constraints. Specifically,
we want to estimate the grasp … successful grasps. Following convention in related work [8…

Task-oriented quality measures for dextrous grasping

R Haschke, JJ Steil, I Steuwer… - … on Computational …, 2005 - ieeexplore.ieee.org
… Our current work aims at including the task oriented grasp evaluation in the context of an
evolving integrated architecture for imitation learning of grasps in a situated learning scenario …

Task-oriented grasping with semantic and geometric scene understanding

R Detry, J Papon, L Matthies - 2017 IEEE/RSJ International …, 2017 - ieeexplore.ieee.org
… a task-oriented grasp model, that encodes graspsgrasps that leave the opening of the
container unobstructed. The model consists of two independent agents: First, a geometric grasp

Learning task-oriented grasping from human activity datasets

M Kokic, D Kragic, J Bohg - IEEE Robotics and Automation …, 2020 - ieeexplore.ieee.org
taskoriented grasps on novel objects from a known category. To this end, we learn a category
specific model from examples of task-oriented grasps … to executing task-oriented grasps by …

FoundationGrasp: Generalizable Task-Oriented Grasping with Foundation Models

C Tang, D Huang, W Dong, R Xu, H Zhang - arXiv preprint arXiv …, 2024 - arxiv.org
… 7 DoF robotic arm for task-oriented grasping and manipulation. This … on taskagnostic grasping,
task-oriented grasping, and the … We consider the problem of learning a task-oriented grasp

Learning task-oriented grasping for tool manipulation from simulated self-supervision

K Fang, Y Zhu, A Garg, A Kurenkov… - … Journal of Robotics …, 2020 - journals.sagepub.com
… Therefore, in order to select the best task-oriented grasp for a particular task, we need to
take into account the synergy between grasping robustness and suitability for the manipulation …

Task-oriented grasp prediction with visual-language inputs

C Tang, D Huang, L Meng, W Liu… - 2023 IEEE/RSJ …, 2023 - ieeexplore.ieee.org
grasping of the knife handle may result in cutting failure. So, how can we endow robots with
the same ability to predict taskoriented grasps … to enable task-oriented grasp prediction. Fig.1(…