Human-in-the-loop optimisation: Mixed initiative grasping for optimally facilitating post-grasp manipulative actions

Abstract

This paper addresses the problem of mixed initiative, shared control for master-slave grasping and manipulation. We propose a novel system, in which an autonomous agent assists a human in teleoperating a remote slave arm/gripper, using a haptic master device. Our system is designed to exploit the human operator's expertise in selecting stable grasps (still… (More)
DOI: 10.1109/IROS.2017.8206178

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Cite this paper

@article{Esfahani2017HumanintheloopOM, title={Human-in-the-loop optimisation: Mixed initiative grasping for optimally facilitating post-grasp manipulative actions}, author={Amir Masoud Ghalamzan Esfahani and Firas Abi-Farraj and Paolo Robuffo Giordano and Rustam Stolkin}, journal={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year={2017}, pages={3386-3393} }