Dexterous reaching, grasp transfer and planning using electrostatic representations

IEEE-RAS International Conference on Humanoid Robots

Volumn 2015-February, Issue February, 2015, Pages 211-218

  Sandilands, Peter ^a   Ivan, Vladimir ^a   Komura, Taku ^a   Vijayakumar, Sethu ^a  

^a UNIVERSITY OF EDINBURGH   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

ANTHROPOMORPHIC ROBOTS; ELECTROSTATICS; KINEMATICS;

ABSTRACT SPACE; COLLISION DETECTION; CONFIGURATION SPACE; DIFFERENT SHAPES; HAND CONFIGURATION; OPTIMISATIONS; PLANNING TECHNIQUES; REACH AND GRASP;

ROBOT PROGRAMMING;

EID: 84937918776     PISSN: 21640572     EISSN: 21640580     Source Type: Conference Proceeding    
DOI: 10.1109/HUMANOIDS.2013.7029978     Document Type: Conference Paper

References (26)

1. S. Bhattacharya, D. Lipsky, R. Ghrist, and V. Kumar. Invariants for Homology Classes with Application to Optimal Search and Planning Problem in Robotics. ArXiv e-prints, 2012.
2. A. Bierbaum, M. Rambow, T. Asfour, and R. Dillmann. Grasp affordances from multi-fingered tactile exploration using dynamic potential fields. In Proc. of Humanoids, pages 168-174, 2009.
3. M. Ciocarlie, C. Goldfeder, and P. Allen. Dimensionality reduction for hand-independent dexterous robotic grasping. In Proc. of IROS, pages 3270-3275, 2007.
4. Hao Dang and P. K. Allen. Semantic grasping: Planning robotic grasps functionally suitable for an object manipulation task. In IROS, pages 1311-1317, 2012.
5. G. Gioioso, G. Salvietti, M. Malvezzi, and D. Prattichizzo. An Object-Based Approach to Map Human Hand Synergies onto Robotic Hands with Dissimilar Kinematics. In Proc. of R:SS, 2012.
6. C. Goldfeder, P.K. Allen, C. Lackner, and R. Pelossof. Grasp Planning via Decomposition Trees. In Proc. of ICRA, pages 4679-4684, 2007.
7. E. Goto, Y. Shi, and N. Yoshida. Extrapolated Surface Charge Method for Capacity Calculation of Polygons and Polyhedra. In Journal of Computational Physics, volume 100, pages 105-115, 1992.
8. M. Haex and L. M. Gambardella. Stable Grasps by Path Planning using Artificial Fields, 1992.
9. U. Hillenbrand and M.A. Roa. Transferring functional grasps through contact warping and local replanning. In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pages 2963-2970, 2012.
10. Haiying Hu, Jiawei Li, Zongwu Xie, Bin Wang, Hong Liu, and G. Hirzinger. A robot arm/hand teleoperation system with telepresence and shared control. In Proc. of AIM, pages 1312-1317, 2005.
11. S. B. Kang and K. Ikeuchi. Robot Task Programming by Human Demonstration: Mapping Human Grasps to Manipulator Grasps. In Proc. of IROS, volume 1, pages 97-104, September 1994.
12. O. Khatib. Real-Time Obstacle Avoidance for Manipulators and Mobile Robots. International Journal of Robotics Research, 5(1):90-98, 1986.
13. J. Krieg. Motion tracking: Polhemus technology. Virtual Reality Systems, 1(1):32-36, 1993.
14. A.T. Miller and P.K. Allen. Examples of 3D grasp quality computations. In Proc. of ICRA, volume 2, pages 1240-1246, 1999.
15. A.T. Miller, S. Knoop, H.I. Christensen, and P.K. Allen. Automatic grasp planning using shape primitives. In Proc. of ICRA, volume 2, pages 1824-1829 vol.2, 2003.
16. L. Pao and T. H. Speeter. Transformation of human hand positions for robotic hand control. In Proc. of RA, pages 1758-1763 vol.3, 1989.
17. A. Peer, S. Einenkel, and M. Buss. Multi-fingered telemanipulation-mapping of a human hand to a three finger gripper. In Proc. of RO-MAN, pages 465-470, 2008.
18. R. Pelossof, A. Miller, P. Allen, and T. Jebara. An SVM learning approach to robotic grasping. In Proc. of ICRA, volume 4, pages 3512-3518 Vol.4, 2004.
19. K. Rawlik, M. Toussaint, and S. Vijayakumar. On Stochastic Optimal Control and Reinforcement Learning by Approximate Inference. In Proc. of R:SS, 2012.
20. P. Sandilands, Myung-Geol Choi, and T. Komura. Capturing Close Interactions with Objects Using a Magnetic Motion Capture System and a RGBD Sensor. In Motion in Games, volume 7660, pages 220-231. Springer Berlin Heidelberg, 2012.
21. P. Sandilands, Myung-Geol Choi, and T. Komura. Interaction Capture using Magnetic Sensors. Computer Animation and Virtual Worlds, 2013.
22. Peng Song and V. Kumar. A potential field based approach to multirobot manipulation. In Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on, volume 2, pages 1217-1222, 2002.
23. M. Toussaint. Robot Trajectory Optimization using Approximate Inference. In Proc. of ICML, pages 1049-1056. ACM, 2009.
24. A. Van Oosterom and J. Strackee. The Solid Angle of a Plane Triangle. IEEE Transactions on Biomedical Engineering, BME-30(2):125-126, February 1983.
25. He Wang, K. Sidorov, P. Sandilands, and T. Komura. Harmonic Parameterization by Electrostatics. ACM Transactions on Graphics (TOG), 2013.
26. Guowu Wei, Jian S. Dai, Shuxin Wang, and Haifeng Luo. Kinematic Analysis and Prototype of a Metamorphic Anthropomorphic Hand with a Reconfigurable Palm. International Journal Of Humanoid Robotics, 8(3):459-479, 2011.