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Grasp recognition for programming by demonstration
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
2005 (English)In: 2005 IEEE International Conference on Robotics and Automation (ICRA), Vols 1-4, NEW YORK, NY: IEEE , 2005, 748-753 p.Conference paper, Published paper (Refereed)
Abstract [en]

The demand for flexible and re-programmable robots has increased the need for programming by demonstration systems. In this paper, grasp recognition is considered in a programming by demonstration framework. Three methods for grasp recognition are presented and evaluated. The first method uses Hidden Markov Models to model the hand posture sequence during the grasp sequence, while the second method relies on the hand trajectory and hand rotation. The third method is a hybrid method, in which both the first two methods are active in parallel. The particular contribution is that all methods rely on the grasp sequence and not just the final posture of the hand. This facilitates grasp recognition before the grasp is completed. Also, by analyzing the entire sequence and not just the final grasp, the decision is based on more information and increased robustness of the overall system is achieved. The experimental results show that both arm trajectory and final hand posture provide important information for grasp classification. By combining them, the recognition rate of the overall system is increased.

Place, publisher, year, edition, pages
NEW YORK, NY: IEEE , 2005. 748-753 p.
Series
IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ISSN 1050-4729
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-43155ISI: 000235460100121Scopus ID: 2-s2.0-33846129118ISBN: 0-7803-8914-X (print)OAI: oai:DiVA.org:kth-43155DiVA: diva2:448203
Conference
IEEE International Conference on Robotics and Automation (ICRA). Barcelona, SPAIN. APR 18-22, 2005
Note
QC 20111014Available from: 2011-10-14 Created: 2011-10-13 Last updated: 2012-01-24Bibliographically approved

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Kragic, Danica

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf