Ben Amor, Heni and Kroemer, Oliver and Hillenbrand, Ulrich and Neumann, Gerhard and Peters, Jan (2012) Generalization of human grasping for multi-fingered robot hands. IROS 2012, Vilamoura, Portugal.
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Abstract
Multi-fingered robot grasping is a challenging problem that is difficult to tackle using hand-coded programs. In this paper we present an imitation learning approach for learning and generalizing grasping skills based on human demonstrations. To this end, we split the task of synthesizing a grasping motion into three parts: (1) learning efficient grasp representations from human demonstrations, (2) warping contact points onto new objects, and (3) optimizing and executing the reach-and-grasp movements. We learn low-dimensional latent grasp spaces for different grasp types, which form the basis for a novel extension to dynamic motor primitives. These latent-space dynamic motor primitives are used to synthesize entire reach-and-grasp movements. We evaluated our method on a real humanoid robot. The results of the experiment demonstrate the robustness and versatility of our approach.
Item URL in elib: | https://elib.dlr.de/78853/ | ||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||
Title: | Generalization of human grasping for multi-fingered robot hands | ||||||||||||||||||
Authors: |
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Date: | 2012 | ||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||
Status: | Published | ||||||||||||||||||
Keywords: | robotic grasping, learning, generalization | ||||||||||||||||||
Event Title: | IROS 2012 | ||||||||||||||||||
Event Location: | Vilamoura, Portugal | ||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||
Organizer: | IEEE/RSJ | ||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||
HGF - Program: | Space | ||||||||||||||||||
HGF - Program Themes: | Space Technology | ||||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||||
DLR - Program: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||
DLR - Research theme (Project): | R - RMC - Kognitive Intelligenz und Autonomie (old) | ||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) | ||||||||||||||||||
Deposited By: | Hillenbrand, Ulrich | ||||||||||||||||||
Deposited On: | 13 Dec 2012 15:56 | ||||||||||||||||||
Last Modified: | 31 Jul 2019 19:38 |
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