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

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