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Topological Synergies for Grasp Transfer
Universität Stuttgart. (Machine Learning and Robotics Lab)
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.ORCID-id: 0000-0003-1114-6040
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
Universität Stuttgart. (Machine Learning and Robotics Lab)
Vise andre og tillknytning
2013 (engelsk)Inngår i: Hand Synergies - how to tame the complexity of grapsing: Workshop, IEEE International Conference on Robotics and Automation (ICRA 2013), 2013Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In this contribution, we propose a novel approach towards representing physically stable grasps which enables us to transfer grasps between different hand kinematics. We use a low dimensional topologically inspired coordinate representation which we call topological synergies, and which is motivated by the topological notion of winding numbers. We address the transfer problem as a stochastic optimization task and carry out motion planning in our topologically inspired coordinates using the Approximate Inference Control (AICO) framework. This perspective allows us to compute not only the final grasp itself, but also a trajectory in configuration space leading to it. We evaluate our approach using the simulation framework PhysX. The presented experiments, which develop further recent attempts to use topologically inspired coordinates in robotics, demonstrate that our approach makes it possible to transfer a large percentage of grasps between a simulated human hand and a 3-finger Schunk hand.

sted, utgiver, år, opplag, sider
2013.
Emneord [en]
grasping, caging, manipulation, topological synergies, winding number
HSV kategori
Forskningsprogram
SRA - Informations- och kommunikationsteknik
Identifikatorer
URN: urn:nbn:se:kth:diva-129500OAI: oai:DiVA.org:kth-129500DiVA, id: diva2:655673
Konferanse
Hand Synergies - how to tame the complexity of grapsing, Workshop, IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany
Forskningsfinansiär
EU, FP7, Seventh Framework Programme, IST-FP7-270436
Merknad

NQC 20140127

Tilgjengelig fra: 2013-10-13 Laget: 2013-09-30 Sist oppdatert: 2018-01-11bibliografisk kontrollert

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