Human guided reach and grasp planner
Author
Dallas, MatthewOther Contributors
Trinkle, Jeffrey C.; Wen, John T.; Stewart, Charles V.;Date Issued
2014-05Subject
Computer scienceDegree
MS;Terms of Use
This electronic version is a licensed copy owned by Rensselaer Polytechnic Institute, Troy, NY. Copyright of original work retained by author.; Attribution-NonCommercial-NoDerivs 3.0 United StatesMetadata
Show full item recordAbstract
Humans are extremely adept at grasping and manipulating a large variety of novel objects. The current state of robotic grasping, though improving, has not approached the level of robustness found in humans. In order to improve robotic grasping, this paper describes a method of integrating human grasp data into automated path planning and grasp acquisition called the Human-Guided Reach and Grasp Planner. Human grasp data is collected by combining input from two hardware systems: an array of infrared motion tracking cameras for spacial orientation and a sensor glove for highly accurate joint information. Collected data is stored for later use in robotic grasp planning. The Human-Guided Reach and Grasp Planner is then able to generate a trajectory for accomplishing the demonstrated task on the same object in new environments. This planner combines previous research in the fields of robotic learning, sequence alignment, human grasping and path planning among others.;Description
May 2014; School of ScienceDepartment
Dept. of Computer Science;Publisher
Rensselaer Polytechnic Institute, Troy, NYRelationships
Rensselaer Theses and Dissertations Online Collection;Access
CC BY-NC-ND. Users may download and share copies with attribution in accordance with a Creative Commons Attribution-Noncommercial-No Derivative Works 3.0 License. No commercial use or derivatives are permitted without the explicit approval of the author.;Collections
Except where otherwise noted, this item's license is described as CC BY-NC-ND. Users may download and share copies with attribution in accordance with a Creative Commons Attribution-Noncommercial-No Derivative Works 3.0 License. No commercial use or derivatives are permitted without the explicit approval of the author.