Robohub.org
 

Learning hand motions from humans

by
08 November 2011



share this:

Although human hands have lots of degrees of freedom, we typically don’t use most configurations. For example, we usually don’t move the last two joints of our fingers independently. Now let’s look at the anthropomorphic robot hand below. Like the human hand, it has lots of degrees of freedom and planning a motion would typically take a lot of time if we consider all possibilities. To solve this problem, Rosell et al. propose to look at what motions humans do, and use the information to limit the motions the robot hand should be doing.

Industrial robot Stäubli TX 90 with the mechanical hand Schunk Anthropomorphic Hand.

To learn about human hand motion they fitted a human with a sensorized glove and recorded its movements. The human movements were then translated into robot coordinates. Using a technique called Principal Component Analysis, the robot is able to extract the most important motions that humans do. By combining these principal motions with a planner to make sure the arm and hand don’t collide with the environment or their own parts, the robot is able to perform human-like motion using little computation.

The approach was validated in simulation and using a four finger anthropomorphic mechanical hand (17 joints with 13 in- dependent degrees of freedom) assembled on an industrial robot (6 independent degrees of freedom).




Sabine Hauert is President of Robohub and Associate Professor at the Bristol Robotics Laboratory
Sabine Hauert is President of Robohub and Associate Professor at the Bristol Robotics Laboratory





Related posts :



Hot Robotics Symposium celebrates UK success

An internationally leading robotics initiative that enables academia and industry to find innovative solutions to real world challenges, celebrated its success with a Hot Robotics Symposium hosted across three UK regions last week.
25 June 2022, by

Researchers release open-source photorealistic simulator for autonomous driving

MIT scientists unveil the first open-source simulation engine capable of constructing realistic environments for deployable training and testing of autonomous vehicles.
22 June 2022, by

In this episode, Audrow Nash speaks to Maria Telleria, who is a co-founder and the CTO of Canvas. Canvas makes a drywall finishing robot and is based in the Bay Area. In this interview, Maria talks ab...
21 June 2022, by and

Coffee with a Researcher (#ICRA2022)

As part of her role as one of the IEEE ICRA 2022 Science Communication Awardees, Avie Ravendran sat down virtually with a few researchers from academia and industry attending the conference.

Seeing the robots at #ICRA2022 through the eyes of a robot

Accessbility@ICRA2022 and OhmniLabs provided three OhmniBots for the conference, allowing students, faculty and interested industry members to attend the expo and poster sessions.
17 June 2022, by

Communicating innovation: What can we do better?

The question on what role communications play in forming the perception of innovative technology was discussed in this workshop. Experts explained how the innovation uptake should be supported by effective communication of innovations: explaining the benefits, tackling risks and fears of the audiences, and taking innovation closer to the general public.
15 June 2022, by





©2021 - ROBOTS Association


 












©2021 - ROBOTS Association