Grasp recognition and mapping on humanoid robots

In this paper, we present a system for vision-based grasp recognition, mapping and execution on a humanoid robot to provide an intuitive and natural communication channel between humans and humanoids. This channel enables a human user to teach a robot how to grasp an object. The system comprises thr...

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Bibliographic Details
Published in2009 9th IEEE-RAS International Conference on Humanoid Robots pp. 465 - 471
Main Authors Do, M., Romero, J., Kjellstrom, H., Azad, P., Asfour, T., Kragic, D., Dillmann, R.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2009
Subjects
Anthropomorphism
Communication channels
Education
Educational robots
Humanoid robots
Humans
Kinematics
Motion estimation
Robot programming
Robot vision systems
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Summary:In this paper, we present a system for vision-based grasp recognition, mapping and execution on a humanoid robot to provide an intuitive and natural communication channel between humans and humanoids. This channel enables a human user to teach a robot how to grasp an object. The system comprises three components: human upper body motion capture system which provides the approaching direction towards an object, hand pose estimation and grasp recognition system, which provides the grasp type performed by the human as well as a grasp mapping and execution system for grasp reproduction on a humanoid robot with five-fingered hands. All three components are real-time and markerless. Once an object is reached, the hand posture is estimated, including hand orientation and grasp type. For the execution on a robot, hand posture and approach movement are mapped and optimized according to the kinematic limitations of the robot. Experimental results are performed on the humanoid robot ARMAR-IIIb.
ISBN:1424445973
9781424445974
ISSN:2164-0572
DOI:10.1109/ICHR.2009.5379538