Efficient Robotic Grasp Learning by Demonstration

2019 ◽  
pp. 87-99
Author(s):  
Ziyan Gao ◽  
Nak Young Chong
Keyword(s):  
Learning By Demonstration ◽  
Robotic Grasp

A Search For Precursors Of Slip In Robotic Grasp

1987 ◽  
Author(s):  
Jack Rebman ◽  
Jan-Erik Kallhammer
Keyword(s):  
Robotic Grasp

Algorithmic Selection of Preferred Grasp Poses using Manipulability Ellipsoid Forms

2021 ◽  
pp. 1-24
Author(s):  
Rajesh Kumar ◽  
Sudipto Mukherjee
Keyword(s):  
Geodesic Distance ◽  
Object Surface ◽  
Kinematic Constraints ◽  
Rolling Contacts ◽  
Manipulability Measure ◽  
Robotic Grasp ◽  
Selection Of

Abstract An algorithm to search for a kinematically desired robotic grasp pose with rolling contacts is presented. A manipulability measure is defined to characterise the grasp for multi-fingered robotic handling. The methodology can be used to search for the goal grasp pose with a manipulability ellipsoid close to the desired one. The proposed algorithm is modified to perform rolling based relocation under kinematic constraints of the robotic fingertips. The search for the optimal grasp pose and the improvement of the grasp pose by relocation is based on the reduction of the geodesic distance between the current and the target manipulability matrices. The algorithm also derives paths of the fingertip on the object surface in order to achieve the goal pose. An algorithmic option for the process of searching for a suitable grasp configuration is hence achieved.

Recent Advances on Vision-Based Robot Learning by Demonstration

2018 ◽  
Vol 11 (4) ◽  
pp. 269-284
Author(s):  
Hongxin Zhang ◽  
Xingyu Lv ◽  
Wancong Leng ◽  
Xuefeng Ma
Keyword(s):  
Robot Learning ◽  
Learning By Demonstration ◽  
Recent Advances
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