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Demonstration-based learning and control for automatic grasping |
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| Authors: | Johan Tegin Staffan Ekvall Danica Kragic Jan Wikander Boyko Iliev |
| Affiliation: | 1. Mechatronics Laboratory, KTH Machine Design, Brinellv?gen 83, 100 44, Stockholm, Sweden 2. Computational Vision and Active Perception Laboratory, KTH NADA/CVAP, Stockholm, Sweden 3. Center for Applied Autonomous Sensors Systems, ?rebro University, ?rebro, Sweden |
| Abstract: | 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. |
| Keywords: | Grasping Learning Control Simulation Robot |
| 本文献已被 SpringerLink 等数据库收录！ | |
