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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
2008 (English)Conference paper, Published paper (Refereed)
Abstract [en]

We are developing a Programming by Demonstration (PbD) system for which recognition of objects and pick-and-place actions represent basic building blocks for task learning. An important capability in this system is automatic isual recognition of human grasps, and methods for mapping the human grasps to the functionally corresponding robot grasps. This paper describes the grasp recognition system, focusing on the human-to-robot mapping. The visual grasp classification and grasp orientation regression is described in our IROS 2008 paper [1]. In contrary to earlier approaches, no articulated 3D reconstruction of the hand over time is taking place. The input data consists of a single image of the human hand. The hand shape is classified as one of six grasps by finding similar hand shapes in a large database of grasp images. From the database, the hand orientation is also estimated. The recognized grasp is then mapped to one of three predefined Barrett hand grasps. Depending on the type of robot grasp, a precomputed grasp strategy is selected. The strategy is further parameterized by the orientation of the hand relative to the environment show purposes.

Place, publisher, year, edition, pages
2008.
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-66499OAI: oai:DiVA.org:kth-66499DiVA: diva2:484233
Conference
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Nice, France. September 22 - 26 2008
Note
QC 20120127. Invited paper in Grasp and Task Learning by Imitation workshopAvailable from: 2012-01-26 Created: 2012-01-26 Last updated: 2012-01-27Bibliographically approved

Open Access in DiVA

No full text

Other links

http://www.csc.kth.se/~jrgn/2008_IROSws_rkk.pdf

Authority records BETA

Kjellström, HedvigKragic, Danica

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Romero, JavierKjellström, HedvigKragic, Danica
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