Proceedings of: 14th International Conference on Advanced Robotics (ICAR 2009), 22-26 June 2009, Munich (Germany) ; 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. ; European Community's Seventh Framework Program


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Programming-by-demonstration of reaching motions for robot grasping


    Beteiligte:
    Skoglund, Alexander (Autor:in) / Tegin, Johan (Autor:in) / Iliev, Boyko (Autor:in) / Palm, Rainer (Autor:in)

    Erscheinungsdatum :

    2009-07-01


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    A Study of Reaching Motions for Collaborative Human-Robot Interaction

    Sheikholeslami, Sara / Lee, Gilwoo / Hart, Justin W. et al. | Springer Verlag | 2020


    A Study of Reaching Motions for Collaborative Human-Robot Interaction

    Sheikholeslami, Sara / Lee, Gilwoo / Hart, Justin W. et al. | TIBKAT | 2020


    Dynamic Hand Space Envelope during Reaching and Grasping

    Choi, Jaewon / Bae, Sungchan / Armstrong, Thomas J. | SAE Technical Papers | 2008


    Modeling Variability in Reaching Motions

    Hu, Jennifer / Faraway, Julian J. | SAE Technical Papers | 2001


    Influence of Object Properties on Reaching and Grasping Tasks

    Choi, Jaewon / Bae, Sungchan / Armstrong, Thomas J. | SAE Technical Papers | 2008