TY - GEN
T1 - Generalization of human grasping for multi-fingered robot hands
AU - Ben Amor, Heni
AU - Kroemer, Oliver
AU - Hillenbrand, Ulrich
AU - Neumann, Gerhard
AU - Peters, Jan
PY - 2012
Y1 - 2012
N2 - Multi-fingered robot grasping is a challenging problem that is difficult to tackle using hand-coded programs. In this paper we present an imitation learning approach for learning and generalizing grasping skills based on human demonstrations. To this end, we split the task of synthesizing a grasping motion into three parts: (1) learning efficient grasp representations from human demonstrations, (2) warping contact points onto new objects, and (3) optimizing and executing the reach-and-grasp movements. We learn low-dimensional latent grasp spaces for different grasp types, which form the basis for a novel extension to dynamic motor primitives. These latent-space dynamic motor primitives are used to synthesize entire reach-and-grasp movements. We evaluated our method on a real humanoid robot. The results of the experiment demonstrate the robustness and versatility of our approach.
AB - Multi-fingered robot grasping is a challenging problem that is difficult to tackle using hand-coded programs. In this paper we present an imitation learning approach for learning and generalizing grasping skills based on human demonstrations. To this end, we split the task of synthesizing a grasping motion into three parts: (1) learning efficient grasp representations from human demonstrations, (2) warping contact points onto new objects, and (3) optimizing and executing the reach-and-grasp movements. We learn low-dimensional latent grasp spaces for different grasp types, which form the basis for a novel extension to dynamic motor primitives. These latent-space dynamic motor primitives are used to synthesize entire reach-and-grasp movements. We evaluated our method on a real humanoid robot. The results of the experiment demonstrate the robustness and versatility of our approach.
UR - http://www.scopus.com/inward/record.url?scp=84872291978&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872291978&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6386072
DO - 10.1109/IROS.2012.6386072
M3 - Conference contribution
AN - SCOPUS:84872291978
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2043
EP - 2050
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -