Symbolic Level Generalization of In-hand Manipulation Tasks from Human Demonstrations using Tactile Data Information

Title:

Symbolic Level Generalization of In-hand Manipulation Tasks from Human Demonstrations using Tactile Data Information

Authors:

Ricardo Martins [ website | social ]

Diego R. Faria [ website | social ]

Jorge Lobo [ website | social ]

Jorge Dias [ website | social ]

Abstract:

This work intends to contribute to the development of autonomous dexterous robotic hands by presenting an approach to describe the mechanisms underlying the human strategies during the execution of in-hand manipulation tasks. The work proposes a symbolic description of the in-hand manipulation tasks. The in-hand manipulation tasks are demonstrated by a subject wearing an instrumented glove with a tactile sensing array on the palm and fingers region. The description of the manipulation movement consists on a sequence of hand contact states primitives with the object. The set of possible contact state primitives is defined previously to the demonstration.

Publisher:

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010, Workshop on Grasping Planning and Task Learning by Imitation

Date Published:

2010-10-01

Alternative full-text PDF:

download full-text PDF via University of Coimbra

Keywords:

robotics, artificial perception, Bayesian modelling, grasping, haptics, tactile sensing, touch

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Symbolic Level Generalization of In-hand Manipulation Tasks from Human Demonstrations using Tactile Data Information

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