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Programming-by-demonstration of reaching motions for robot grasping
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).
2009 (English)In: ICAR: 2009 14th International Conference on Advanced Robotics, IEEE , 2009, 321-327 p.Conference paper (Refereed)
Abstract [en]

This paper presents a novel approach to skill modeling acquired from human demonstration. The approach is based on fuzzy modeling and is using a planner for generating corresponding robot trajectories. One of the main challenges stems from the morphological differences between human and robot hand/arm structure, which makes direct copying of human motions impossible in the general case. Thus, the planner works in hand state space, which is defined such that it is perception-invariant and valid for both human and robot hand. We show that this representation simplifies task reconstruction and preserves the essential parts of the task as well as the coordination between reaching and grasping motion. We also show how our approach can generalize observed trajectories based on multiple demonstrations and that the robot can match a demonstrated behavoir, despite morphological differences. To validate our approach we use a general-purpose robot manipulator equipped with an anthropomorphic three-fingered robot hand.

Place, publisher, year, edition, pages
IEEE , 2009. 321-327 p.
Keyword [en]
Correspondence problem, Fuzzy modeling, Hand state, Motion planner, Programming-by-demonstration
National Category
Other Mechanical Engineering
URN: urn:nbn:se:kth:diva-153541ISI: 000270815500052ScopusID: 2-s2.0-70449370067ISBN: 978-142444855-5OAI: diva2:753508
2009 International Conference on Advanced Robotics, ICAR 2009, 22 June 2009 through 26 June 2009, Munich, Germany

QC 20141008

Available from: 2014-10-08 Created: 2014-10-06 Last updated: 2014-10-08Bibliographically approved

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