Generalization of human grasping for multi-fingered robot hands

Hani Ben Amor, Oliver Kroemer, Ulrich Hillenbrand, Gerhard Neumann, Jan Peters

Research output: Chapter in Book/Report/Conference proceedingConference contribution

35 Citations (Scopus)

Abstract

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.

Original languageEnglish (US)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages2043-2050
Number of pages8
DOIs
StatePublished - 2012
Externally publishedYes
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period10/7/1210/12/12

Fingerprint

End effectors
Demonstrations
Robots
Point contacts
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Ben Amor, H., Kroemer, O., Hillenbrand, U., Neumann, G., & Peters, J. (2012). Generalization of human grasping for multi-fingered robot hands. In IEEE International Conference on Intelligent Robots and Systems (pp. 2043-2050). [6386072] https://doi.org/10.1109/IROS.2012.6386072

Generalization of human grasping for multi-fingered robot hands. / Ben Amor, Hani; Kroemer, Oliver; Hillenbrand, Ulrich; Neumann, Gerhard; Peters, Jan.

IEEE International Conference on Intelligent Robots and Systems. 2012. p. 2043-2050 6386072.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ben Amor, H, Kroemer, O, Hillenbrand, U, Neumann, G & Peters, J 2012, Generalization of human grasping for multi-fingered robot hands. in IEEE International Conference on Intelligent Robots and Systems., 6386072, pp. 2043-2050, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 10/7/12. https://doi.org/10.1109/IROS.2012.6386072
Ben Amor H, Kroemer O, Hillenbrand U, Neumann G, Peters J. Generalization of human grasping for multi-fingered robot hands. In IEEE International Conference on Intelligent Robots and Systems. 2012. p. 2043-2050. 6386072 https://doi.org/10.1109/IROS.2012.6386072
Ben Amor, Hani ; Kroemer, Oliver ; Hillenbrand, Ulrich ; Neumann, Gerhard ; Peters, Jan. / Generalization of human grasping for multi-fingered robot hands. IEEE International Conference on Intelligent Robots and Systems. 2012. pp. 2043-2050
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