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Generalization of human grasping for multi-fingered robot hands

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. doi: 10.1109/iros.2012.6386072.



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/
Document Type:Conference or Workshop Item (Speech)
Title:Generalization of human grasping for multi-fingered robot hands
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Ben Amor, HeniTU Darmstadt, FB InformatikUNSPECIFIEDUNSPECIFIED
Kroemer, OliverTU Darmstadt, FB InformatikUNSPECIFIEDUNSPECIFIED
Hillenbrand, UlrichInstitute of Robotics and Mechatronics, German Aerospace Center (DLR)UNSPECIFIEDUNSPECIFIED
Neumann, GerhardTU Darmstadt, FB InformatikUNSPECIFIEDUNSPECIFIED
Peters, JanTU Darmstadt, FB InformatikUNSPECIFIEDUNSPECIFIED
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:robotic grasping, learning, generalization
Event Title:IROS 2012
Event Location:Vilamoura, Portugal
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
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:24 Jul 2023 09:24

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