Krzysztof Charusta, Dimitar Dimitrov, Achim J. Lilienthal and Boyko Iliev
Extraction of Grasp Related Features by Human Dual-Hand Object Exploration
Proc. IEEE Int. Conf. on Advanced Robotics (ICAR), 2009
Abstract: We consider the problem of objects exploration for grasping purposes, specifically in cases where vision based methods are not applicable. A novel dual-hand object exploration method is proposed that takes benefits from a human demonstration to enrich knowledge about an object. The user handles an object freely using both hands, without restricting the object pose. A set of grasp-related features obtained during exploration is demonstrated and utilized to generate grasp oriented bounding boxes that are basis for pre-grasp hypothesis. We believe that such exploration done in a natural and user friendly way creates important link between an operator intention and a robot action.
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@INPROCEEDINGS{Charusta_etal:ICAR:2009,
  AUTHOR = {Charusta, Krzysztof and Dimitrov, Dimitar and Lilienthal, Achim J. and Iliev, Boyko},
  TITLE = {Extraction of Grasp Related Features by Human Dual-Hand Object Exploration},
  BOOKTITLE = {Proceedings of the IEEE International Conference on Advanced Robotics (ICAR)},
  YEAR = {2009},
  MONTH = {June 22--26},
  ADRESS = {Munich, Germany},
  PAGES = {},
  KEYWORDS ={grasp-related feature extraction;robot grasping;dual-hand object exploration method;multifingered hands;data gloves; feature extraction;grasp oriented bounding box},
}