Generalization of human grasping for multi-fingered robot hands

Ben Amor, Heni, Kroemer, Oliver, Hillenbrand, Ulrich , Neumann, Gerhard and Peters, Jan (2012) Generalization of human grasping for multi-fingered robot hands. In: International Conference on Robot Systems (IROS), 7-12 October 2012, Vilamoura, Portugal.

BenAmor_IROS_2012.pdf - Whole Document

Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive


Multi-fingered robot grasping is a challenging
problem that is difficult to tackle using hand-coded programs.
In this paper we present an imitation learning approach for
learning and generalizing grasping skills based on human
demonstrations. To this end, we split the task of synthesizing
a grasping motion into three parts: (1) learning efficient grasp
representations from human demonstrations, (2) warping contact
points onto new objects, and (3) optimizing and executing
the reach-and-grasp movements. We learn low-dimensional
latent grasp spaces for different grasp types, which form the
basis for a novel extension to dynamic motor primitives. These
latent-space dynamic motor primitives are used to synthesize
entire reach-and-grasp movements. We evaluated our method
on a real humanoid robot. The results of the experiment
demonstrate the robustness and versatility of our approach.

Keywords:Grasping, Dimensionality Reduction
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > School of Computer Science
Related URLs:
ID Code:25788
Deposited On:28 Jul 2017 08:24

Repository Staff Only: item control page