Programming-by-Demonstration of Reach to Grasp Tasks in Hand-State Space
نویسندگان
چکیده
This paper deals with programming-bydemonstration of robot manipulators, where a robot program is created automatically from human demonstrations despite morphological differences in the hand/arm structure. To find a correspondence between observed human motions and desired robot hand motions, we represent the task in hand state space. The hand state definition is perception-invariant and valid for both human and robot. The representation simplifies task reconstruction and preserves the essential part of the reaching motion associated with the grasp. We show how demonstrations of pick-and-place tasks can be interpreted and executed by a general-purpose robot manipulator equipped with a three-finger hand.
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