Towards an Automatic Robot Regrasping Movement based on Human Demonstration using Tangle Topology
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.
Phongtharin Vinayavekhin Shunsuke Kudoh Katsushi Ikeuchi
Institute of Industrial Science,The University of Tokyo,4-6-1 Komaba,Meguro-ku,Tokyo,153-8505 JAPAN School of Information Systems,The University of Electro-Communications,1-5-1 Chofugaoka,Chofu,Tokyo,
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3332-3339
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）