Please use this identifier to cite or link to this item:
https://scholarbank.nus.edu.sg/handle/10635/35825
DC Field | Value | |
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dc.title | Human-Robot Cooperative Grasping | |
dc.contributor.author | CHEN NUTAN | |
dc.date.accessioned | 2012-12-31T18:01:25Z | |
dc.date.available | 2012-12-31T18:01:25Z | |
dc.date.issued | 2012-07-03 | |
dc.identifier.citation | CHEN NUTAN (2012-07-03). Human-Robot Cooperative Grasping. ScholarBank@NUS Repository. | |
dc.identifier.uri | http://scholarbank.nus.edu.sg/handle/10635/35825 | |
dc.description.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. | |
dc.language.iso | en | |
dc.subject | grasping, teleoperation, human-robot interface, humanoid robot, IR sensor, Kinect, potential energy | |
dc.type | Thesis | |
dc.contributor.department | MECHANICAL ENGINEERING | |
dc.contributor.supervisor | CHEW CHEE MENG | |
dc.description.degree | Master's | |
dc.description.degreeconferred | MASTER OF ENGINEERING | |
dc.identifier.isiut | NOT_IN_WOS | |
Appears in Collections: | Master's Theses (Open) |
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File | Description | Size | Format | Access Settings | Version | |
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ChenN.pdf | 6.83 MB | Adobe PDF | OPEN | None | View/Download |
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