Teaching grasping to a humanoid hand as a generalization of human grasping data

Michele Folgheraiter, Ilario Baragiola, Giuseppina Gini

Research output: Contribution to journalConference article

5 Citations (Scopus)

Abstract

Humanoid robotics requires new programming tools. Programming by demonstration is good for simple movements, but so far the adaptation for fine movements in grasping is too difficult for it. Grasping of natural objects with a natural hand is known as one of the most difficult problems in robotics. Mathematical models have been developed only for simple hands or for simple objects. In our research we try to use data directly obtained from a human teacher as in imitation learning. To get data from users we built a data glove, we collected data from different experiments, and generalized them through neural networks. Here we discuss the nature of the data collected and their analysis.

Original languageEnglish
Pages (from-to)139-150
Number of pages12
JournalLecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)
Volume3303
Publication statusPublished - Dec 1 2004
EventInternational Symposium KELSI 2004: Knowledge Exploration in Life Science Informatics - Milan, Italy
Duration: Nov 25 2004Nov 26 2004

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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