Determining proper grasp configurations for handovers through observation of object movement patterns and inter-object interactions during usage
Determining proper grasp configurations for handovers through observation of object movement patterns and inter-object interactions during usage
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DOI：
10.1109/iros.2014.6942733
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发表时间：
2014-11
期刊：
影响因子：
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通讯作者：
Wesley P. Chan;Youhei Kakiuchi;K. Okada;M. Inaba
中科院分区：
文献类型：
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作者：
Wesley P. Chan;Youhei Kakiuchi;K. Okada;M. Inaba
我们提出了一种方法，使机器人能够确定适当的抓取配置的移交-即，在哪里抓，以及如何定位一个对象时，移交。在我们的方法中，机器人首先通过观察如何使用某些对象及其正确的切换抓取配置的演示来构建知识库。然后，知识库中的对象根据其运动和对象间交互特征进行组织。这个过程的关键是要识别相似性的启示。当随后被要求移交一个物体时，机器人会根据物体的识别能力计算出适当的抓取配置。实验结果表明，该方法能够根据物体的可视性对物体进行区分和分组。此外，当给定一个新对象时，我们的方法能够泛化知识库中的数据并确定合适的抓取配置。
We present a method for enabling robots to determine appropriate grasp configurations for handovers - i.e., where to grasp, and how to orient an object when handing it over. In our method, a robot first builds a knowledge base by observing demonstrations of how certain objects are used and their proper handover grasp configurations. Objects in the knowledge base are then organized based on their movements and inter-object interaction features. The key point in this process is that similarity in affordances should be recognized. When subsequently asked to handover an object, the robot then computes an appropriate grasp configuration based on the object's recognized affordances. Experimental results show that our method was able to differentiate and group together objects according to their affordances. Furthermore, when given a new object, our method was able to generalize data in the knowledge base and determine an appropriate grasp configuration.