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Demonstration based learning and control for automatic grasping
KTH, Stockholm, Sweden. (Mechatronics Laboratory, Machine Design)
KTH, Stockholm, Sweden. (Computational Vision and Active Perception Laboratory)
KTH, Stockholm, Sweden. (Computational Vision and Active Perception Laboratory)
KTH, Stockholm, Sweden. (Mechatronics Laboratory, Machine Design)
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2008 (English)In: Intelligent Service Robotics, ISSN 1861-2776, Vol. 2, no 1, p. 23-30Article in journal (Refereed) Published
Abstract [en]

We present a method for automatic grasp generation based on object shape primitives in a Programming by Demonstration framework. The system first recognizes the grasp performed by a demonstrator as well as the object it is applied on and then generates a suitable grasping strategy on the robot. We start by presenting how to model and learn grasps and map them to robot hands. We continue by performing dynamic simulation of the grasp execution with a focus on grasping objects whose pose is not perfectly known.

Place, publisher, year, edition, pages
Berlin / Heidelberg: Springer , 2008. Vol. 2, no 1, p. 23-30
National Category
Engineering and Technology Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3380DOI: 10.1007/s11370-008-0026-3OAI: oai:DiVA.org:oru-3380DiVA, id: diva2:137677
Available from: 2008-12-03 Created: 2008-12-03 Last updated: 2018-01-13Bibliographically approved

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Iliev, Boyko

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  • apa
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  • ieee
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  • nn-NB
  • sv-SE
  • Other locale
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Output format
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  • asciidoc
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