Determining proper grasp configurations for handovers through observation of object movement patterns and inter-object interactions during usage

Wesley P. Chan, Yohei Kakiuchi, Kei Okada, Masayuki Inaba

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

10 Citations (Scopus)

Abstract

We present a method for enabling robots to determine appropriate grasp configurations for handovers - i.e., where to grasp, and how to orient an object when handing it over. In our method, a robot first builds a knowledge base by observing demonstrations of how certain objects are used and their proper handover grasp configurations. Objects in the knowledge base are then organized based on their movements and inter-object interaction features. The key point in this process is that similarity in affordances should be recognized. When subsequently asked to handover an object, the robot then computes an appropriate grasp configuration based on the object's recognized affordances. Experimental results show that our method was able to differentiate and group together objects according to their affordances. Furthermore, when given a new object, our method was able to generalize data in the knowledge base and determine an appropriate grasp configuration.

Original languageEnglish
Title of host publication2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
EditorsLynne Parker
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1355-1360
Number of pages6
ISBN (Electronic)9781479969340, 9781479969319
ISBN (Print)9781479969357
DOIs
Publication statusPublished - 6 Nov 2014
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2014 - Chicago, United States of America
Duration: 14 Sep 201418 Sep 2014
http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2014/www.iros2014.org/

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2014
Abbreviated titleIROS 2014
CountryUnited States of America
CityChicago
Period14/09/1418/09/14
Internet address

Cite this

Chan, W. P., Kakiuchi, Y., Okada, K., & Inaba, M. (2014). Determining proper grasp configurations for handovers through observation of object movement patterns and inter-object interactions during usage. In L. Parker (Ed.), 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1355-1360). (IEEE International Conference on Intelligent Robots and Systems). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IROS.2014.6942733