Recognition of In-Hand Manipulation by Observing Contact State Transition for Robot Hand Control

被引：0
|
作者：
Kondo, Masahiro [1 ]
Ueda, Jun [1 ]
Ogasawara, Tsukasa [1 ]
机构：
[1] Nara Inst Sci & Technol, Grad Sch Informat Sci, Robot Lab, Nara 6300192, Japan
来源：
ROBOTICS RESEARCH | 2010年 / 66卷
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The aim of this research is to develop a direct teaching system for multifingered robot hand to reproduce in-hand manipulation demonstrated by an human operator. A recognition method by observing contact state transition on a palm surface is described to detect primitives of in-hand manipulation. Dynamic programming (DP) matching is applied to recognize the primitives. The direct teaching system is developed consisting of an object with multiple sensors and a multi-fingered robot hand "NAIST-hand" developed by our group. By taking a barcode scanning task as an example, an experiment is conducted to demonstrate the validity of the developed system.
引用
收藏
页码：349 / 360
页数：12
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