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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 
Faria, Diego 
Dias, Jorge 
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.
DOI: 10.5281/zenodo.4553413
Rights: openAccess
Appears in Collections:FCTUC Eng.Electrotécnica - Artigos em Livros de Actas

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