By Topic

Grasp observation and reproduction by humanoid robots using color camera and 3D sensor

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Tien Cuong Kieu ; Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Japan ; Kimitoshi Yamazaki ; Ryo Hanai ; Kei Okada
more authors

In this paper, we present a system for grasp observation, mapping and execution on humanoid robots to provide intuitive and natural way of communication between humans and robots. This system enables a human user to teach a robot how to grasp an object. The system includes four main components: the hand movement tracking component which provides the approach direction toward the object, the pre-grasp hand pose estimation component which provides the grasp type performed by the human user, the contact points estimation component which provides the position on the object should be grasped, and the grasp mapping and execution component for grasp reproduction on humanoid robots with gripper hands.

Published in:

System Integration (SII), 2011 IEEE/SICE International Symposium on

Date of Conference:

20-22 Dec. 2011