Extracting data from human manipulation of objects towards improving autonomous robotic grasping

@article{Faria2012ExtractingDF,
  title={Extracting data from human manipulation of objects towards improving autonomous robotic grasping},
  author={Diego R. Faria and Ricardo Martins and Jorge Lobo and Jorge Dias},
  journal={Robotics Auton. Syst.},
  year={2012},
  volume={60},
  pages={396-410}
}
Humans excel in manipulation tasks, a basic skill for our survival and a key feature in our manmade world of artefacts and devices. In this work, we study how humans manipulate simple daily objects, and construct a probabilistic representation model for the tasks and objects useful for autonomous grasping and manipulation by robotic hands. Human demonstrations of predefined object manipulation tasks are recorded from both the human hand and object points of view. The multimodal data acquisition… CONTINUE READING

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