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Interactive grasp learning based on human demonstration
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.ORCID iD: 0000-0003-2965-2953
2004 (English)In: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, 3519-3524 p.Conference paper, Published paper (Refereed)
Abstract [en]

We describe our effort in development of an artificial cognitive system, able of performing complex manipulation tasks in a teleoperated or collaborative manner. Some of the work is motivated by human control strategies that, in general, involve comparison between sensory feedback and a-priori known, internal models. According to recent neuroscientific findings, predictions help to reduce the delays in obtaining the sensory information and to perform more complex tasks. This paper deals with the issue of robotic manipulation and grasping in particular. Two main contributions of the paper are: i) evaluation, recognition and modeling of human grasps during the arm transportation sequence, and ii) learning and representation of grasp strategies for different robotic hands.

Place, publisher, year, edition, pages
2004. 3519-3524 p.
Series
IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ISSN 1050-4729
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-44355DOI: 10.1109/ROBOT.2004.1308798ISI: 000221794800566Scopus ID: 2-s2.0-3042693081ISBN: 0-7803-8232-3 (print)OAI: oai:DiVA.org:kth-44355DiVA: diva2:450905
Conference
IEEE International Conference on Robotics and Automation Location: New Orleans, LA Date: APR 26-MAY 01, 2004
Note
QC 20111024Available from: 2011-10-24 Created: 2011-10-20 Last updated: 2012-01-24Bibliographically approved

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Kragic, Danica

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CiteExportLink to record
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Citation style
  • apa
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  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
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  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
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Output format
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