Steffen JF, Haschke R, Ritter H. SOM-based Experience Representation for Dextrous Grasping. In: Proceedings of the 6th International Workshop on Self-Organizing Maps (WSOM 2007) . Bielefeld: Bielefeld University; 2007. ; We present an approach to dextrous robot grasping which combines a purely tactile-driven reactive algorithm with an implicit representation of grasp experience to yield an algorithm which can handle arbitrary, partially unknown grasp situations, i.e. vague object shape and position. During the grasp movement, the obtained contact information is used to dynamically adapt the grasping control by targeting the best matching posture from the experience base. Thus, the robot recalls and actuates a grasp it already successfully performed in a similar tactile context. To efficiently represent the experience, we introduce the Grasp Manifold assuming that grasp postures form a smooth manifold in hand posture space. We present a simple way of providing approximations of Grasp Manifolds using Self-Organising Maps (SOMs) and study the properties of the represented grasp manifolds concerning their smoothness and robustness against clustered training data.


    Access

    Download


    Export, share and cite



    Title :

    SOM-based Experience Representation for Dextrous Grasping


    Contributors:

    Publication date :

    2007-01-01


    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    004 / 629




    Optimum grasping planning for dextrous hand based on the asymptotical stability

    Yang, Y. / Lu, Z. / Zhang, Q. | British Library Online Contents | 1996


    Optimum grasping planning for multi-fingered dextrous hands based on the asymptotical stability

    Yang, Y. / Lu, Z. / Zhang, Q. | British Library Online Contents | 1996


    Dextrous robot hands

    Venkataraman, Subramanian T. / Iberall, Thea | NTRS | 1990


    Adaptive Evolving Strategy for Dextrous Robotic Manipulation

    Arismendi, César / Álvarez Sánchez, David / Garrido Bullón, Luis Santiago et al. | BASE | 2014

    Free access

    Design of an Overconstrained and Dextrous Spherical Wrist

    Wiitala, Jared M. | Online Contents | 2000