ICRA 2011 Paper Abstract


Paper WeA211.5

Vinayavekhin, Phongtharin (The University of Tokyo), Kudoh, Shunsuke (The University of Electro-Communications), Ikeuchi, Katsushi (The University of Tokyo)

Towards an Automatic Robot Regrasping Movement based on Human Demonstration using Tangle Topology

Scheduled for presentation during the Regular Sessions "Grasping II" (WeA211), Wednesday, May 11, 2011, 11:05−11:20, Room 5F

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Dexterous Manipulation, Multifingered Hands, Recognition


This paper introduces a novel method to teach a robot to regrasp an object based on the Programming by Demonstration paradigm. In this paradigm, a robot observes a human performing a regrasping task via various sensors to recognise crucial information in order to reproduce the task using its own hand. The main contribution is in the proposal of a representation technique that can analyse a human regrasping movement and reproduce this movement in a robot hand. The technique is based on tangle topology where both hand and manipulated object are considered as strands. This allows a regrasping movement to be considered as an alteration of the tangle relationship between the strands (hand and the object) over time. Human regrasping movements are analysed and reproduced in multi-fingered robot hands in a grasp simulation to demonstrate the efficiency of the proposed method.



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