Demonstration-based learning and control for automatic grasping
2009 (English)In: Intelligent Service Robotics, ISSN 1861-2776, Vol. 2, no 1, 23-30 p.Article in journal (Refereed) Published
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
2009. Vol. 2, no 1, 23-30 p.
Control, Grasping, Learning, Robot, Simulation
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-24053DOI: 10.1007/s11370-008-0026-3ScopusID: 2-s2.0-58149347626OAI: oai:DiVA.org:kth-24053DiVA: diva2:343028
QC 201008112010-08-112010-08-112014-04-08Bibliographically approved