Modeling and evaluation of human-to-robot mapping of grasps

2009 International Conference on Advanced Robotics, ICAR 2009

Volumn , Issue , 2009, Pages

  Romero, Javier ^a   Kjellström, Hedvig ^a   Kragic, Danica ^a  

^a ROYAL INSTITUTE OF TECHNOLOGY   (Sweden)

Author keywords

[No Author keywords available]

Indexed keywords

BASIC BUILDING BLOCK; EXPERIMENTAL EVALUATION; GRASP MAPPING; HUMAN HAND POSTURE; LEARNING BY IMITATION; REALISTIC APPLICATIONS; ROBOT HAND; ROBOT MAPPING; ROBOTIC HANDS; ROBOTIC SYSTEMS; SINGLE IMAGES; VIRTUAL FINGERS;

END EFFECTORS; ROBOTIC ARMS;

ROBOTICS;

EID: 70449363979     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (16)

1. Y. Kuniyoshi, M. Inaba, and H. Inoue, "Learning by watching," IEEE Transactions on Robotics and Automation, vol. 10, no. 6, pp. 799-822, 1994.
2. S. Schaal, "Is imitation learning the route to humanoid robots?" Trends in Cognitive Sciences, vol. 3, no. 6, pp. 233-242, 1999.
3. K. Ogawara, S. Iba, H. Kimura, and K. Ikeuchi, "Recognition of human task by attention point analysis," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2000, pp. 2121-2126.
4. S. Ekvall and D. Kragić, "Grasp recognition for programming by demonstration tasks," in IEEE International Conference on Robotics and Automation, 2005, pp. 748-753.
5. H. Kjellström, J. Romero, and D. Kragić, "Visual recognition of grasps for human-to-robot mapping," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008.
6. M. Cutkosky, "On grasp choice, grasp models and the design of hands for manufacturing tasks," IEEE Transactions on Robotics and Automation, vol. 5, no. 3, pp. 269-279, 1989.
7. M. Stark, P. Lies, M. Zillich, J. Wyatt, and B. Schiele, "Functional object class detection based on learned affordance cues," in Computer Vision Systems, 2008.
8. A. M. Borghi, "Object concepts and action," in The Grounding of Cognition: The role of perception and action in memory, language, and thinking, D. Pecher and R.Zwaan, Eds. Cambridge University Press, 2005, part 2, pp. 8-34.
9. M. Jeannerod, "Intersegmental coordination during reaching at natural visual objects," Attention & Performance, vol. IX, 1981.
10. A. Billard, Y. Epars, S. Schaal, and G. Cheng, "Discovering imitation strategies through categorization of multi-dimensional data," in IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 3, 2003, pp. 2398-2403.
11. P. Azad, A. Ude, T. Asfour, and R. Dillmann, "Stereo-based markerless human motion capture for humanoid robot systems," in IEEE International Conference on Robotics and Automation, 2007, pp. 3951-3956.
12. J. Rehg and T. Kanade, "Visual tracking of high dof articulated structures: An application to human hand tracking," in European Conference on Computer Vision, vol. 2, 1994, pp. 35-46.
13. J. Triesch, J. Wieghardt, E. Mael, and C. Malsburg, "Towards imitation learning of grasping movements by an autonomous robot," in International Gesture Workshop, 1999, pp. 73-84.
14. M. A. Arbib, T. Iberall, and D. M. Lyons, "Coordinated control programs for movements of the hand," in Hand function and the neocortex. Experimental Brain Research Supplemental 10, A. W. Goodwin and I. Darian-Smith, Eds., 1985.
15. S. B. Kang and K. Ikeuchi, "Toward automatic robot instruction from perception: Mapping human grasps to manipulator grasps," IEEE Transactions on Robotics and Automation, vol. 13, no. 1, pp. 81-95, 1997.
16. S. B. Kang and K. Ikeuchi, "A framework for recognizing grasps," in CMU Robotics Institute, 1991. [Online]. Available: ftp://reports.adm.cs.cmu.edu/usr/anon/robotics/CMU-RI-TR-91-24.ps.Z