Intuitive interaction for robotic grasping

Authors:
Nutan Chen;Keng Peng Tee;Chee-Meng Chew;Rui Yan
Affiliations:
National University of Singapore, Singapore;A*STAR, Singapore;National University of Singapore, Singapore;A*STAR, Singapore
Venue:
Proceedings of the Workshop at SIGGRAPH Asia
Year:
2012

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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.