Daniel Leidner, Christoph Borst, Gerd Hirzinger. Things are made for what they are: Solving manipulation tasks by using functional object classes. In 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29 - Dec. 1, 2012. pages 429-435, IEEE, 2012. [doi]
Abstract is missing.