کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413559 680560 2008 16 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Recognition of in-hand manipulation using contact state transition for multifingered robot hand control
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Recognition of in-hand manipulation using contact state transition for multifingered robot hand control
چکیده انگلیسی

This paper proposes a method for recognizing in-hand manipulation of the operator by observing a contact state transition between an object and the human hand. An instrumented object with a pressure distribution sensor and a position/orientation sensor has been developed. By processing information from the sensors, the contact regions on the operator’s palm surface are detected. A contact state transition diagram is created by taking practical contact states into account. A recognition algorithm based on Dynamic Programming (DP) is proposed to recognize the type of in-hand manipulation by comparing the similarity of the contact state transition between an input sequence and template manipulation primitives. The validity of the proposed method is confirmed by experiments.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 56, Issue 1, 31 January 2008, Pages 66–81
نویسندگان
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