Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/35825
Title: Human-Robot Cooperative Grasping
Authors: CHEN NUTAN
Keywords: grasping, teleoperation, human-robot interface, humanoid robot, IR sensor, Kinect, potential energy
Issue Date: 3-Jul-2012
Source: CHEN NUTAN (2012-07-03). Human-Robot Cooperative Grasping. ScholarBank@NUS Repository.
Abstract: To explore an intuitive human-robot interface for service robots, this work develops effective and user-friendly approaches which combine the real time remote vision-based teleoperation and au- tonomous grasping. In the first approach, hand gestures are identified and used to activate autonomy, which can reduce grasping time and provide more natural grasping poses. A potential energy algorithm is introduced to assist grasping during teleoperation in another approach. This allows us to perform online adjustments to reach a pre-grasp pose without requiring premature object contact or regrasping strategies.
URI: http://scholarbank.nus.edu.sg/handle/10635/35825
Appears in Collections:Master's Theses (Open)

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