Imitation Learning of Whole-Body Grasps

  title={Imitation Learning of Whole-Body Grasps},
  author={Kaijen Hsiao and Tom{\'a}s Lozano-P{\'e}rez},
  journal={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
A system is detailed here for using imitation learning to teach a robot to grasp objects using both hand and whole-body grasps, which use the arms and torso as well as hands. Demonstration grasp trajectories are created by teleoperating a simulated robot to pick up simulated objects, modeled as combinations of up to three aligned primitives - boxes, cylinders, and spheres. When presented with a target object, the system compares it against the objects in a stored database to pick a demonstrated… CONTINUE READING
Highly Cited
This paper has 63 citations. REVIEW CITATIONS

From This Paper

Figures, tables, and topics from this paper.


Publications citing this paper.
Showing 1-10 of 44 extracted citations

64 Citations

Citations per Year
Semantic Scholar estimates that this publication has 64 citations based on the available data.

See our FAQ for additional information.

Similar Papers

Loading similar papers…