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Modeling and Evaluation of Human-to-Robot Mapping of Grasps
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-5750-9655
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
2009 (English)In: ICAR: 2009 International Conference on Advanced Robotics, IEEE , 2009, 228-233 p.Conference paper, Published paper (Refereed)
Abstract [en]

We study the problem of human to robot grasp mapping as a basic building block of a learning by imitation system. The human hand posture, including both the grasp type and hand orientation, is first classified based on a single image and mapped to a specific robot hand. A metric for the evaluation based on the notion of virtual fingers is proposed. The first part of the experimental evaluation, performed in simulation, shows bow the differences in the embodiment between human and robotic hand affect the grasp strategy. The second part, performed with a robotic system, demonstrates the feasibility of the proposed methodology in realistic applications.

Place, publisher, year, edition, pages
IEEE , 2009. 228-233 p.
Keyword [en]
Basic building block, Experimental evaluation, Grasp mapping, Human hand posture, Learning by imitation, Realistic applications, Robot hand, Robot mapping, Robotic hands, Robotic systems, Single images, Virtual fingers, End effectors, Robotic arms
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-30421ISI: 000270815500037Scopus ID: 2-s2.0-70449363979ISBN: 978-1-4244-4855-5 (print)OAI: oai:DiVA.org:kth-30421DiVA: diva2:400817
Conference
14th International Conference on Advanced Robotics, Munich, Germany, June 22-26, 2009
Note

QC 20110228

Available from: 2011-02-28 Created: 2011-02-24 Last updated: 2014-10-08Bibliographically approved

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Kjellström, HedvigKragic, Danica

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