NDLI: Robot grasp synthesis from virtual demonstration and topology-preserving environment reconstruction

Content Provider	IEEE Xplore Digital Library
Author	Aleotti, J. Caselli, S.
Copyright Year	2007
Description	Author affiliation: Univ. of Parma, Parma (Aleotti, J.; Caselli, S.)
Abstract	Automatic environment modeling is an essential requirement for intelligent robots to execute manipulation tasks. Object recognition and workspace reconstruction also enable 3D user interaction and programming of assembly operations. In this paper a novel method for synthesizing robot grasps from demonstration is presented. The system allows learning and classification of human grasps demonstrated in virtual reality as well as teaching of robot grasps and simulation of manipulation tasks. Both virtual grasp demonstration and grasp synthesis take advantage of a topology-preserving approach for automatic workspace modeling with a monocular camera. The method is based on the computation of edge-face graphs. The algorithm works in real-time and shows high scalability in the number of objects thus allowing accurate reconstruction and registration from multiple views. Grasp synthesis is performed mimicking the human hand pre-grasp motion with data smoothing. Experiments reported in the paper have tested the capabilities of both the vision algorithm and the grasp synthesizer.
Starting Page	2692
Ending Page	2697
File Size	1967039
Page Count	6
File Format	PDF
ISBN	9781424409112
DOI	10.1109/IROS.2007.4399011
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robotics and automation Humans Intelligent robots Object recognition Robot programming Robotic assembly Virtual reality Education Educational robots Computational modeling
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Toward programming of assembly tasks by demonstration in virtual environments

Robotic assembly operation based on task-level teaching in virtual reality

Grasp Recognition Using The Contact Web

Grasp recognition in virtual reality for robot pregrasp planning by demonstration

A grasp abstraction hierarchy for recognition of grasping tasks from observation

Teaching robot's movement in virtual reality

Virtual robot teaching in the assembly work environment for multi-fingered robots

Teaching by demonstration of assembly motion in VR - non-deterministic search-type motion in the teaching stage

Conceptual graph-based synthesis of robotic assembly operations

Robot grasp synthesis from virtual demonstration and topology-preserving environment reconstruction

Similar Documents

Toward programming of assembly tasks by demonstration in virtual environments

Robotic assembly operation based on task-level teaching in virtual reality

Grasp Recognition Using The Contact Web

Grasp recognition in virtual reality for robot pregrasp planning by demonstration

A grasp abstraction hierarchy for recognition of grasping tasks from observation

Teaching robot's movement in virtual reality

Virtual robot teaching in the assembly work environment for multi-fingered robots

Teaching by demonstration of assembly motion in VR - non-deterministic search-type motion in the teaching stage

Conceptual graph-based synthesis of robotic assembly operations

Robot grasp synthesis from virtual demonstration and topology-preserving environment reconstruction