Toward automatic robot instruction from perception-mapping human grasps to manipulator grasps
Toward automatic robot instruction from perception-mapping human grasps to manipulator grasps
复制标题
从感知映射人类抓取到机械手抓取的自动机器人指令
DOI：
10.1109/70.554349
复制
发表时间：
1997
期刊：
影响因子：
--
通讯作者：
K. Ikeuchi
中科院分区：
文献类型：
--
作者：
S. B. Kang;K. Ikeuchi
我们给机器人编程的方法是通过直接的人类演示。系统观察人类执行任务，识别人类的抓握，并将其映射到机械手上。本文描述了如何将观察到的人类抓手映射到给定的通用机械手的抓手以进行任务复制。根据观察到的人的抓取来规划机械手的抓取是在两个层面上完成的：功能层面和物理层面。最初，在功能层面，抓取映射是在虚拟手指层面实现的；虚拟手指是一组手指以类似的方式作用于物体表面。随后，在物理层面上，考虑物体和机械手的几何特性，对机械手的抓取进行微调。我们的工作集中在力量或包络的把握和指尖的精确把握。最后，我们展示了一个从人类演示到机器人执行的整个编程周期的示例。
Our approach of programming a robot is by direct human demonstration. The system observes a human performing the task, recognizes the human grasp, and maps it onto the manipulator. This paper describes how an observed human grasp can be mapped to that of a given general-purpose manipulator for task replication. Planning the manipulator grasp based upon the observed human grasp is done at two levels: the functional and physical levels. Initially, at the functional level, grasp mapping is achieved at the virtual finger level; the virtual finger is a group of fingers acting against an object surface in a similar manner. Subsequently, at the physical level, the geometric properties of the object and manipulator are considered in fine-tuning the manipulator grasp. Our work concentrates on power or enveloping grasps and the fingertip precision grasps. We conclude by showing an example of an entire programming cycle from human demonstration to robot execution.