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|Title:||Symbolic Level Generalization of In-hand Manipulation Tasks from Human Demonstrations using Tactile Data Information||Authors:||Martins, Ricardo Filipe Alves
|Issue Date:||18-Oct-2010||Serial title, monograph or event:||IROS 2010 - 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems- Session Workshop on Grasp Planning and Task Learning by Imitation||Abstract:||This work intends to contribute to the development of autonomous dexterous robotic hands by presenting an approach to describe the mechanisms underlying the human strategies during the execution of in-hand manipulation tasks. The work proposes a symbolic description of the in-hand manipulation tasks. The in-hand manipulation tasks are demonstrated by a subject wearing an instrumented glove with a tactile sensing array on the palm and fingers region. The description of the manipulation movement consists on a sequence of hand contact states primitives with the object. The set of possible contact state primitives is defined previously to the demonstration.||URI:||http://hdl.handle.net/10316/93188||DOI:||10.5281/zenodo.4553413||Rights:||openAccess|
|Appears in Collections:||FCTUC Eng.Electrotécnica - Artigos em Livros de Actas|
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