@inproceedings{912bb78a515d4f8ab1f4e8ae02dfcbca,
title = "Extensive human training for robot skill synthesis: Validation on a robotic hand",
abstract = "We propose a framework for skill synthesis for robots that exploits the human capacity to learn novel control tasks. The conceptual idea is to incorporate the target robotic platform into the experimenter's body schema so that it can be controlled effortlessly as if the robot were a part of the body. Once this stage is achieved, the dexterity on a task exhibited with the new external limb -the robot- can be used for designing controllers for the task under consideration. This article exemplifies the proposed framework by showing the derivation of an effective open-loop controller that can manipulate two balls with the fingers of a 16-DOF robotic hand.",
keywords = "Body schema, Hand control, Skill synthesis",
author = "Erhan Oztop and Lin, {Li Heng} and Mitsuo Kawato and Gordon Cheng",
year = "2007",
doi = "10.1109/ROBOT.2007.363581",
language = "English",
isbn = "1424406021",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
pages = "1788--1793",
booktitle = "2007 IEEE International Conference on Robotics and Automation, ICRA'07",
note = "2007 IEEE International Conference on Robotics and Automation, ICRA'07 ; Conference date: 10-04-2007 Through 14-04-2007",
}