TY - GEN
T1 - Extraction of grasp-related features by human dual-hand object exploration
AU - Charusta, Krzysztof
AU - Dimitrov, Dimitar
AU - Lilienthal, Achim J.
AU - Iliev, Boyko
PY - 2009
Y1 - 2009
N2 - We consider the problem of objects exploration for grasping purposes, specifically in cases where vision based methods are not applicable.A novel dual-hand object exploration method is proposed that takes benefits from a human demonstration to enrich knowledge about an object.The user handles an object freely using both hands, without restricting the object pose.A set of grasp-related features obtained during exploration is demonstrated and utilized to generate grasp oriented bounding boxes that are basis for pre-grasp hypothesis.We believe that such exploration done in a natural and user friendly way creates important link between an operator intention and a robot action.
AB - We consider the problem of objects exploration for grasping purposes, specifically in cases where vision based methods are not applicable.A novel dual-hand object exploration method is proposed that takes benefits from a human demonstration to enrich knowledge about an object.The user handles an object freely using both hands, without restricting the object pose.A set of grasp-related features obtained during exploration is demonstrated and utilized to generate grasp oriented bounding boxes that are basis for pre-grasp hypothesis.We believe that such exploration done in a natural and user friendly way creates important link between an operator intention and a robot action.
UR - http://www.scopus.com/inward/record.url?scp=70449396561&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:70449396561
SN - 9781424448555
T3 - 2009 International Conference on Advanced Robotics, ICAR 2009
BT - 2009 International Conference on Advanced Robotics, ICAR 2009
T2 - 2009 International Conference on Advanced Robotics, ICAR 2009
Y2 - 22 June 2009 through 26 June 2009
ER -