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Title: Intuitive interaction for robotic grasping
Authors: Chen, N.
Tee, K.P.
Chew, C.-M. 
Yan, R.
Keywords: grasping
human-robot interface
Issue Date: 2012
Citation: Chen, N.,Tee, K.P.,Chew, C.-M.,Yan, R. (2012). Intuitive interaction for robotic grasping. Proceedings - WASA 2012: Workshop at SIGGRAPH Asia 2012 : 105-111. 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 autonomous 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. © 2012 ACM.
Source Title: Proceedings - WASA 2012: Workshop at SIGGRAPH Asia 2012
ISBN: 9781450318358
DOI: 10.1145/2425296.2425315
Appears in Collections:Staff Publications

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