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Extraction of grasp-related features by human dual-hand object exploration
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0003-0217-9326
Örebro University, School of Science and Technology. (AASS)
2009 (English)In: 2009 International Conference on Advanced Robotics, Piscataway, NJ: IEEE conference proceedings, 2009, 1-6 p.Conference paper, Published paper (Refereed)
Abstract [en]

We consider the problem of objects exploration for grasping purposes, specifically in cases where vision based methods are not applicable. A novel dual-hand object exploration method is proposed that takes benefits from a human demonstration to enrich knowledge about an object. The user handles an object freely using both hands, without restricting the object pose. A set of grasp-related features obtained during exploration is demonstrated and utilized to generate grasp oriented bounding boxes that are basis for pre-grasp hypothesis. We believe that such exploration done in a natural and user friendly way creates important link between an operator intention and a robot action.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE conference proceedings, 2009. 1-6 p.
Keyword [en]
robotic grasping, programming-by-demonstration
National Category
Computer Science
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-8428ISI: 000270815500082Scopus ID: 2-s2.0-70449396561ISBN: 978-1-4244-4855-5 (print)OAI: oai:DiVA.org:oru-8428DiVA: diva2:274830
Conference
14th international conference on advanced robotics, Munich, Germany, June 22-26, 2009
Available from: 2009-11-02 Created: 2009-11-02 Last updated: 2017-10-18Bibliographically approved

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Charusta, KrzysztofDimitrov, DimitarLilienthal, Achim J.Iliev, Boyko

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf