Demonstration-based learning and control for automatic grasping

被引：28

作者：

Tegin, Johan ^{[1
]}

Ekvall, Staffan ^{[2
]}

Kragic, Danica ^{[2
]}

Wikander, Jan ^{[1
]}

Iliev, Boyko ^{[3
]}

机构：

[1] KTH Machine Design, Mechatron Lab, Brinellvagen 83, S-10044 Stockholm, Sweden

[2] KTH NADA CVAP, Computat Vis & Act Percept Lab, Stockholm, Sweden

[3] Univ Orebro, Ctr Appl Autonomous Sensors Syst, Orebro, Sweden

来源：

INTELLIGENT SERVICE ROBOTICS | 2009年 / 2卷 / 01期

关键词：

Grasping; Learning; Control; Simulation; Robot;

D O I：

10.1007/s11370-008-0026-3

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We present a method for automatic grasp generation based on object shape primitives in a Programming by Demonstration framework. The system first recognizes the grasp performed by a demonstrator as well as the object it is applied on and then generates a suitable grasping strategy on the robot. We start by presenting how to model and learn grasps and map them to robot hands. We continue by performing dynamic simulation of the grasp execution with a focus on grasping objects whose pose is not perfectly known.

引用

页码：23 / 30

页数：8

共 50 条

[21] Demonstration-based cooperative testing in general chemistry: A broader assessment-of-learning technique
Bowen, CW
Phelps, AJ
JOURNAL OF CHEMICAL EDUCATION, 1997, 74 (06) : 715 - 719
[22] Demonstration-based assessment in general and organic chemistry.
Simmons, J
Bowen, CW
Elakovich, SD
ABSTRACTS OF PAPERS OF THE AMERICAN CHEMICAL SOCIETY, 1996, 211 : 716 - CHED
[23] Learning Grasping Force from Demonstration
Lin, Yun
Ren, Shaogang
Clevenger, Matthew
Sun, Yu
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2012, : 1526 - 1531
[24] DEMONSTRATION-BASED BEHAVIOR PROGRAMMING FOR EMBODIED VIRTUAL AGENTS
Dinerstein, Jonathan
Egbert, Parris K.
Ventura, Dan
Goodrich, Michael
COMPUTATIONAL INTELLIGENCE, 2008, 24 (04) : 235 - 256
[25] PERSONALIZING DEMONSTRATION-BASED COUNSELOR EVALUATION - THE ANATOMY OF AN ALTERNATIVE
MAHER, MF
PERSONNEL AND GUIDANCE JOURNAL, 1981, 59 (05): : 287 - 289
[26] Human-Robot Interaction Learning Using Demonstration-Based Learning and Q-Learning in a Pervasive Sensing Environment
Sung, Yunsick
Cho, Seoungjae
Um, Kyhyun
Jeong, Young-Sik
Fong, Simon
Cho, Kyungeun
INTERNATIONAL JOURNAL OF DISTRIBUTED SENSOR NETWORKS, 2013,
[27] Learning Gentle Grasping From Human-Free Force Control Demonstration
Li, Mingxuan
Zhang, Lunwei
Li, Tiemin
Jiang, Yao
IEEE ROBOTICS AND AUTOMATION LETTERS, 2025, 10 (03): : 2391 - 2398
[28] Automatic grasping control of mobile robot based on monocular vision
Yanqin Ma
Wenjun Zhu
Yuanwei Zhou
The International Journal of Advanced Manufacturing Technology, 2022, 121 : 1785 - 1798
[29] A Study of Demonstration-Based Learning of Upper-Body Motions in the Context of Robot-Assisted Therapy
Quiroga, Natalia
Mitrevski, Alex
Ploeger, Paul G.
2023 32ND IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, RO-MAN, 2023, : 2569 - 2576
[30] Good Examples Make A Faster Learner Simple Demonstration-based Learning for Low-resource NER
Lee, Dong-Ho
Kadakia, Akshen
Tan, Kangmin
Agarwal, Mahak
Feng, Xinyu
Shibuya, Takashi
Mitani, Ryosuke
Sekiya, Toshiyuki
Pujara, Jay
Ren, Xiang
PROCEEDINGS OF THE 60TH ANNUAL MEETING OF THE ASSOCIATION FOR COMPUTATIONAL LINGUISTICS (ACL 2022), VOL 1: (LONG PAPERS), 2022, : 2687 - 2700

← 1 2 3 4 5 →