research product . 2012

Generalization of human grasping for multi-fingered robot hands

Ben Amor, Heni; Kroemer, Oliver; Hillenbrand, Ulrich; Neumann, Gerhard; Peters, Jan;
Open Access English
  • Published: 24 Dec 2012
  • Country: United Kingdom
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 ...
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Subjects
ACM Computing Classification System: TheoryofComputation_MISCELLANEOUS
free text keywords: H671 Robotics
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