Programming-by-demonstration of reaching motions for robot grasping

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dc.contributor.author Skoglund, Alexander
dc.contributor.author Tegin, Johan
dc.contributor.author Iliev, Boyko
dc.contributor.author Palm, Rainer
dc.date.accessioned 2012-03-20T16:46:57Z
dc.date.available 2012-03-20T16:46:57Z
dc.date.issued 2009-07
dc.identifier.bibliographicCitation International Conference on Advanced Robotics 2009 (ICAR 2009) (pp. 1-7). IEEE, 2009
dc.identifier.isbn 978-3-8396-0035-1 (online)
dc.identifier.isbn 978-1-4244-4855-5 (print)
dc.identifier.uri http://hdl.handle.net/10016/13900
dc.description Proceedings of: 14th International Conference on Advanced Robotics (ICAR 2009), 22-26 June 2009, Munich (Germany)
dc.description.abstract This paper presents a novel approach to skill modeling acquired from human demonstration. The approach is based on fuzzy modeling and is using a planner for generating corresponding robot trajectories. One of the main challenges stems from the morphological differences between human and robot hand/arm structure, which makes direct copying of human motions impossible in the general case. Thus, the planner works in hand state space, which is defined such that it is perception-invariant and valid for both human and robot hand. We show that this representation simplifies task reconstruction and preserves the essential parts of the task as well as the coordination between reaching and grasping motion. We also show how our approach can generalize observed trajectories based on multiple demonstrations and that the robot can match a demonstrated behavoir, despite morphological differences. To validate our approach we use a general-purpose robot manipulator equipped with an anthropomorphic three-fingered robot hand.
dc.description.sponsorship European Community's Seventh Framework Program
dc.format.mimetype application/pdf
dc.language.iso eng
dc.publisher IEEE
dc.rights © IEEE
dc.subject.other Programming-by-Demonstration
dc.subject.other Hand State
dc.subject.other Motion Planner
dc.subject.other Fuzzy Modeling
dc.subject.other Correspondence Problem
dc.title Programming-by-demonstration of reaching motions for robot grasping
dc.type conferenceObject
dc.subject.eciencia Robótica e Informática Industrial
dc.rights.accessRights openAccess
dc.relation.projectID info:eu-repo/grantAgreement/EC/FP7/231640
dc.type.version acceptedVersion
dc.relation.eventdate June 22-26, 2009
dc.relation.eventnumber 14
dc.relation.eventplace Munich (Germany)
dc.relation.eventtitle International Conference on Advanced Robotics (ICAR 2009)
dc.relation.eventtype proceeding
dc.identifier.publicationfirstpage 1
dc.identifier.publicationlastpage 7
dc.identifier.publicationtitle International Conference on Advanced Robotics 2009 (ICAR 2009)
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