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Extraction of grasp-related features by human dual-hand object exploration
Örebro universitet, Akademin för naturvetenskap och teknik. (AASS)
Örebro universitet, Akademin för naturvetenskap och teknik. (AASS)
Örebro universitet, Akademin för naturvetenskap och teknik. (AASS)ORCID-id: 0000-0003-0217-9326
Örebro universitet, Akademin för naturvetenskap och teknik. (AASS)
2009 (engelsk)Inngår i: 2009 International Conference on Advanced Robotics, Piscataway, NJ: IEEE conference proceedings, 2009, s. 1-6Konferansepaper, Publicerat paper (Fagfellevurdert)
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.

sted, utgiver, år, opplag, sider
Piscataway, NJ: IEEE conference proceedings, 2009. s. 1-6
Emneord [en]
robotic grasping, programming-by-demonstration
HSV kategori
Forskningsprogram
Datalogi
Identifikatorer
URN: urn:nbn:se:oru:diva-8428ISI: 000270815500082Scopus ID: 2-s2.0-70449396561ISBN: 978-1-4244-4855-5 (tryckt)OAI: oai:DiVA.org:oru-8428DiVA, id: diva2:274830
Konferanse
14th international conference on advanced robotics, Munich, Germany, June 22-26, 2009
Tilgjengelig fra: 2009-11-02 Laget: 2009-11-02 Sist oppdatert: 2018-01-12bibliografisk kontrollert

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