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Topological Synergies for Grasp Transfer
Universität Stuttgart. (Machine Learning and Robotics Lab)
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: 0000-0003-1114-6040
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.
Universität Stuttgart. (Machine Learning and Robotics Lab)
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2013 (English)In: Hand Synergies - how to tame the complexity of grapsing: Workshop, IEEE International Conference on Robotics and Automation (ICRA 2013), 2013Conference paper, Published paper (Refereed)
Abstract [en]

In this contribution, we propose a novel approach towards representing physically stable grasps which enables us to transfer grasps between different hand kinematics. We use a low dimensional topologically inspired coordinate representation which we call topological synergies, and which is motivated by the topological notion of winding numbers. We address the transfer problem as a stochastic optimization task and carry out motion planning in our topologically inspired coordinates using the Approximate Inference Control (AICO) framework. This perspective allows us to compute not only the final grasp itself, but also a trajectory in configuration space leading to it. We evaluate our approach using the simulation framework PhysX. The presented experiments, which develop further recent attempts to use topologically inspired coordinates in robotics, demonstrate that our approach makes it possible to transfer a large percentage of grasps between a simulated human hand and a 3-finger Schunk hand.

Place, publisher, year, edition, pages
2013.
Keyword [en]
grasping, caging, manipulation, topological synergies, winding number
National Category
Computer Science Robotics
Research subject
SRA - ICT
Identifiers
URN: urn:nbn:se:kth:diva-129500OAI: oai:DiVA.org:kth-129500DiVA: diva2:655673
Conference
Hand Synergies - how to tame the complexity of grapsing, Workshop, IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany
Funder
EU, FP7, Seventh Framework Programme, IST-FP7-270436
Note

NQC 20140127

Available from: 2013-10-13 Created: 2013-09-30 Last updated: 2014-01-28Bibliographically approved

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informatik.uni-stuttgart.de

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Pokorny, Florian T.Kragic, Danica

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CiteExportLink to record
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  • apa
  • harvard1
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